Генерация последовательностей сборки через кластеризацию и оптимизацию

freecad_workbench/freecad/robossembler/DatumCommand.py

@@ -1,49 +0,0 @@
-import FreeCAD
-import FreeCADGui
-from PySide import QtGui, QtCore
-
-class DatumTool:
-    """
-    A tool for creating datums in existing models
-    """
-    def __init__(self):
-        self.active = False
-
-    def activate(self):
-        self.active = True
-        FreeCAD.Console.PrintMessage("Datum tool activatedn")
-
-    def deactivate(self):
-        self.active = False
-        FreeCAD.Console.PrintMessage("Datum tool deactivatedn")
-
-    def mousePressEvent(self, event):
-        if self.active:
-            # Create a datum at the position of the mouse click
-            pos = FreeCADGui.ActiveDocument.ActiveView.getCursorPos()
-            point = FreeCADGui.ActiveDocument.ActiveView.getPoint(pos)
-            datum = FreeCAD.ActiveDocument.addObject("Part::Datum", "Datum")
-            datum.Placement.Base = point
-            datum.ViewObject.ShapeColor = (0.0, 1.0, 0.0) # Set the color of the datum to green
-            FreeCAD.ActiveDocument.recompute()
-
-class DatumCommand:
-    """
-    A command for activating and deactivating the datum tool
-    """
-    def __init__(self):
-        self.tool = DatumTool()
-
-    def Activated(self):
-        self.tool.activate()
-        FreeCADGui.ActiveDocument.ActiveView.addEventCallback("SoMouseButtonEvent", self.tool.mousePressEvent)
-
-    def Deactivated(self):
-        self.tool.deactivate()
-        FreeCADGui.ActiveDocument.ActiveView.removeEventCallback("SoMouseButtonEvent", self.tool.mousePressEvent)
-
-    def GetResources(self):
-        return {'Pixmap': 'path/to/icon.png', 'MenuText': 'Datum Tool', 'ToolTip': 'Creates datum elements in existing models'}
-
-# Add the command to the Draft Workbench
-FreeCADGui.addCommand('DatumCommand', DatumCommand())

freecad_workbench/freecad/robossembler/README.md

@@ -0,0 +1,11 @@
+ Общее руководство работы с планировщиком сборки.
+
+ 1. Открыть сборку. С помощью команд верстака Robossembler, используя команды "Create Assembly Parameters", "Create fastener set", "Create assembly sequence", произвести разметку элементов сборки. Произвести экспорт настроек с помощью функции
+ export assembly settings. На выходе получим файл assembly_settings.json
+ 2. Запустить geometric_feasibility_predicate/main.py, указав в env.json значения cadFilePath (путь к сборке) и outPath (путь вывода). Рекомендуется хранить все файлы в одном месте с проектом На выходе получается файл adjacency_matrix.json
+
+ 3. ( опционально) Запустить файл solve_optimizer , получить упрощенную матрицу смежности в виде reduced_adjacency_matrix.json
+
+ 4. Произвести расчет последовательности доступным способом, напр. через get_sequences.json или с помощью asp.
+
+ 5. (Если применено упрощение) Добавить исключенные компоненты с помощью соотв. функции. 

freecad_workbench/freecad/robossembler/TranslateUtils.py

@@ -1,37 +0,0 @@
-# -*- coding: utf8 -*-
-
-#***************************************************************************
-#*                                                                         *
-#*   Copyright (c) 2020 kbwbe                                              *
-#*                                                                         *
-#*                                                                         *
-#*   This program is free software; you can redistribute it and/or modify  *
-#*   it under the terms of the GNU Lesser General Public License (LGPL)    *
-#*   as published by the Free Software Foundation; either version 2 of     *
-#*   the License, or (at your option) any later version.                   *
-#*   for detail see the LICENCE text file.                                 *
-#*                                                                         *
-#*   This program is distributed in the hope that it will be useful,       *
-#*   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-#*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
-#*   GNU Library General Public License for more details.                  *
-#*                                                                         *
-#*   You should have received a copy of the GNU Library General Public     *
-#*   License along with this program; if not, write to the Free Software   *
-#*   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
-#*   USA                                                                   *
-#*                                                                         *
-#***************************************************************************
-
-import FreeCAD
-
-
-if FreeCAD.GuiUp:
-    from PySide.QtCore import QT_TRANSLATE_NOOP
-    from DraftGui import translate
-else:
-    def QT_TRANSLATE_NOOP(context, text):
-        return text
-
-    def translate(context, text):
-        return text

freecad_workbench/freecad/robossembler/asm_graph.py

@@ -37,4 +37,4 @@ def draw_graph_with_thumbnails(G, image_folder):
 def main():
     sequences = load_sequences('valid_sequences.json')
     G = create_graph(sequences)
-    draw_graph_with_thumbnails(G, '/home/markvoltov/GitProjects/framework/test_models/img')
+    draw_graph_with_thumbnails(G, 'path_to_img')

freecad_workbench/freecad/robossembler/asm_main.py

@@ -0,0 +1,28 @@
+import FreeCAD as App
+from .geometric_feasibility_predicate.main import main as asm_analysis
+from get_sequences import process_adjacency_data
+from valid_sequences import filter_valid_sequences
+from solve_optimizer import restore_full_sequence  # Убедитесь, что эта функция импортирована
+from constraints_operator import collect_assembly_settings
+
+def main(flag):
+    # Выполняем анализ сборки и получаем необходимые данные
+    #flag используется для того, чтобы выбирать между обычным и оптимизированным вариантом работы
+    intersection_geometry, sequences, topologyMatrix = asm_analysis()
+    adjacency_matrix = topologyMatrix.matrix
+    assembly_settings = collect_assembly_settings()
+
+    # Упрощаем матрицу смежности
+    if flag:
+        simplified_matrix = simplify_adjacency_matrix(assembly_settings, adjacency_matrix)
+        all_parts, graph, first_detail, leaf_nodes, all_sequences = process_adjacency_data(simplified_matrix)
+    else:
+        all_parts, graph, first_detail, leaf_nodes, all_sequences = process_adjacency_data(adjacency_matrix)
+
+    # Фильтруем допустимые последовательности
+    valid_sequences = filter_valid_sequences(adjacency_matrix, sequences, assembly_settings) 
+    full_sequence = restore_full_sequence(assembly_settings, all_sequences)
+
+    return full_sequence
+
+main()

freecad_workbench/freecad/robossembler/assembly_graph_generation.py

@@ -35,8 +35,9 @@ def draw_graph(G):
     plt.show()
 
 def main():
-    sequence = load_assembly_sequence('assembly_sequence.json')
+    sequence = load_assembly_sequence('path_to_adjacency_matrix.json')
     assembly_graph = create_assembly_graph(sequence)
     
     draw_graph(assembly_graph)
 
+# main()

freecad_workbench/freecad/robossembler/autodock_generator.py

@@ -3,7 +3,7 @@ import FreeCADGui as Gui
 import Draft
 import json
 
-sequence_file = '/home/markvoltov/GitProjects/framework/freecad_workbench/freecad/robossembler/sequences.json'
+sequence_file = 'path_to_sequencesjson'
 
 def load_assembly_sequence(filepath):
     with open(filepath, 'r') as file:

freecad_workbench/freecad/robossembler/clusterisation_sequences.py

@@ -0,0 +1,82 @@
+import networkx as nx
+
+
+class GraphProcessor:
+    graph = None
+
+    def __init__(self, adjacency_matrix):
+        self.adjacency_matrix = adjacency_matrix
+        self.graph = self.load_graph_from_data()
+
+    def load_graph_from_data(self):
+        G = nx.Graph()
+
+        for part1, neighbors in self.adjacency_matrix.items():
+            for neighbor in neighbors:
+                G.add_edge(part1, neighbor)
+
+        return G
+
+
+class EdgeBetweensClustering:
+    def __init__(self, graph):
+        self.graph = graph.copy()
+        self.clusters = []
+
+    def cluster(self):
+        while self.graph.number_of_edges() > 0:
+            edge_betweens = nx.edge_betweenness_centrality(self.graph)
+            max_betweens_edge = max(edge_betweens, key=edge_betweens.get)
+            self.graph.remove_edge(*max_betweens_edge)
+            components = list(nx.connected_components(self.graph))
+            if components not in self.clusters:
+                self.clusters.append(components)
+        return []
+
+    def get_clusters(self):
+        return self.clusters
+
+
+class ClusterisationSequenceUseCase:
+    def call(self, adjacency_matrix):
+        graph_processor = GraphProcessor(adjacency_matrix)
+        G = graph_processor.load_graph_from_data()
+        ebc = EdgeBetweensClustering(G)
+        ebc.cluster()
+        clusters = ebc.get_clusters()
+
+        for i in range(len(clusters)):
+            for j in range(len(clusters[i])):
+                clusters[i][j] = list(clusters[i][j])
+
+        # Создание списка последовательностей сборки
+        assembly_sequences = []
+        for cluster in clusters:
+            sequence = []
+            for component in cluster:
+                sequence.extend(component)
+            assembly_sequences.append(sequence)
+
+        return assembly_sequences
+
+
+# # Вызов функции
+# adjacency_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']
+# }
+# print(adjacency_matrix)
+# use_case = ClusterisationSequenceUseCase()
+# assembly_sequences = use_case.call(adjacency_matrix)
+# print(assembly_sequences)

freecad_workbench/freecad/robossembler/constraints_operator.py

@@ -135,6 +135,50 @@ def export_assembly_settings():
     with open(save_path, "w") as f:
         json.dump(data, f, indent=4)
 
+#для работы с данными как с переменной
+def collect_assembly_settings():
+    doc = App.activeDocument()
+    if not doc:
+        return None
+
+    assembly_settings_folder = None
+    for obj in doc.Objects:
+        if obj.Name == "Assembly_Settings":
+            assembly_settings_folder = obj
+            break
+
+    if not assembly_settings_folder:
+        return None
+
+    assembly_settings = []
+    for obj in assembly_settings_folder.Group:
+        if hasattr(obj, "Type"):
+            obj_dict = {"Name": obj.Name}
+            if obj.Type == "fastener_set":
+                fasteners = [part.Label for part in obj.Fasteners]
+                obj_dict.update({
+                    "Type": "fastener_set",
+                    "Parent": obj.Parent.Label,
+                    "Child": obj.Child.Label,
+                    "Fasteners": fasteners
+                })
+            elif obj.Type == "asm_sequence":
+                obj_dict.update({
+                    "Type": "asm_sequence",
+                    "Parent": obj.Parent.Label,
+                    "Child": obj.Child.Label 
+                })
+            elif obj.Type == "clearance":
+                partnames = [part.Label for part in obj.PartName]
+                obj_dict.update({
+                    "Type": "clearance",
+                    "PartName": partnames,
+                    "MaxClearance": obj.MaxClearance
+                })
+            assembly_settings.append(obj_dict)
+
+    return assembly_settings
+
 # create_fastener_set()
 # create_assembly_sequence()
 # create_clearance_constraint()

freecad_workbench/freecad/robossembler/geometric_feasibility_predicate/env.json

@@ -1,5 +1,5 @@
 {
-  "cadFilePath": "path/to/file",
-  "outPath": "out/path",
+  "cadFilePath": "path_to_cad_file",
+  "outPath": "out_path",
   "objectIndentation": 0
 }

freecad_workbench/freecad/robossembler/geometric_feasibility_predicate/main.py

@@ -120,7 +120,7 @@ class AllSequences:
             for el in v:
                 adj[inc][el - 1] = 1
             inc += 1
-        return self.find_all_sequences(adj)
+        self.find_all_sequences(adj)
 
 
 class VectorModel:
@@ -580,8 +580,8 @@ class CadAdjacencyMatrix:
                     collisionResult: int = int(
                         part.Shape.distToShape(nextPart.Shape)[0]
                     )
-                    print(collisionResult)
-                    print("collisionResult")
+                    # print(collisionResult)
+                    # print("collisionResult")
                     if collisionResult == 0:
                         matrix[part.Label].append(nextPart.Label)
 
@@ -708,68 +708,82 @@ class ExitFreeCadUseCase:
 #             FreeCadRepository().obj
 #         pass
 
+#функция, проверяющая, открывается ли программа через консоль или через верстак freecad. 
+def get_paths():
+    if 'FreeCAD' in globals():
+        active_doc = FreeCAD.activeDocument()
+        if active_doc:
+            cadFilePath = active_doc.FileName
+            outPath = os.path.dirname(cadFilePath)
+        else:
+            raise Exception("Нет активного документа в FreeCAD.")
+    else:
+        with open('env.json', 'r', encoding='utf-8') as file:
+            env_data = json.load(file)
+            cadFilePath = env_data.get('cadFilePath')
+            outPath = env_data.get('outPath')
+            if not cadFilePath or not outPath:
+                raise Exception("Не найдены cadFilePath или outPath в env.json.")
+    
+    return cadFilePath, outPath
+
 
 
 def main():
-    env = FS.readJSON("env.json")
-    cadFilePath = str(env["cadFilePath"])
-    outPath = str(env["outPath"])
-    objectIndentation = float(env["objectIndentation"])
+    if 'FreeCAD' in globals():
+        active_doc = FreeCAD.activeDocument()
+        if active_doc:
+            cadFilePath = active_doc.FileName
+            outPath = os.path.dirname(cadFilePath)
+        else:
+            # raise Exception("Нет активного документа в FreeCAD.")
+        # else:
+            env = FS.readJSON("env.json")
+            print(env)
+            cadFilePath = str(env["cadFilePath"])
+            outPath = str(env["outPath"])
+            objectIndentation = float(env["objectIndentation"])
 
-    if cadFilePath == None:
-        return TypeError("CadFile not found env.json")
-    App.open("" + cadFilePath)
+            if cadFilePath == None:
+                return TypeError("CadFile not found env.json")
+            App.open("" + cadFilePath)
 
-    # isAllObjectSolidsCheckUseCase = IsAllObjectSolidsCheckUseCase.call()
+            isAllObjectSolidsCheckUseCase = IsAllObjectSolidsCheckUseCase.call()
 
-    # if isAllObjectSolidsCheckUseCase != None:
-    #     FS.writeFile(isAllObjectSolidsCheckUseCase.toString(), outPath, 'error.json')
-    #     ExitFreeCadUseCase.call()
-    #     return
+            if isAllObjectSolidsCheckUseCase != None:
+                FS.writeFile(isAllObjectSolidsCheckUseCase.toString(), outPath, 'error.json')
+                ExitFreeCadUseCase.call()
+                return
+            
+            FreeCAD.open(cadFilePath)
+    
 
-    # checkObjectHasTouchesUseCase = CheckObjectHasTouchesUseCase.call(objectIndentation)
-
-    # if checkObjectHasTouchesUseCase != None:
-    #     FS.writeFile(checkObjectHasTouchesUseCase.toString(), outPath, 'error.json')
-    #     ExitFreeCadUseCase.call()
-    #     return
 
     topologyMatrix = CadAdjacencyMatrix().matrixBySurfaces()
-    import json
 
-    sequences = json.dumps(
-        {"sequences": AllSequences(topologyMatrix.matrix).adj_matrix_names},
-        ensure_ascii=False,
-        indent=4,
-    )
+    sequences = {
+        "sequences": AllSequences(topologyMatrix.matrix).adj_matrix_names
+    }
     matrix = topologyMatrix.matrix
     contacts = matrixGetUniqueContact(matrix)
     intersection_geometry = {"status": True, "recalculations": None}
+    
     for el in contacts:
         child = App.ActiveDocument.getObjectsByLabel(el.get("child"))[0]
         parent = App.ActiveDocument.getObjectsByLabel(el.get("parent"))[0]
         area = IntersectionComputedUseCase.call([child, parent])
         if area != 0.0:
-            if intersection_geometry.get("recalculations") == None:
+            if intersection_geometry.get("recalculations") is None:
                 intersection_geometry["status"] = False
                 intersection_geometry["recalculations"] = []
             intersection_geometry["recalculations"].append(
                 {"area": area, "connect": el.get("child") + " " + el.get("parent")}
             )
+    # print(intersection_geometry, sequences, topologyMatrix.to_dict())
+    return intersection_geometry, sequences, topologyMatrix.to_dict()
 
-    FS.writeFile(
-        json.dumps(intersection_geometry, ensure_ascii=False, indent=4),
-        outPath,
-        "intersection_geometry.json",
-    )
-    FS.writeFile(sequences, outPath, "sequences.json")
-
-    FS.writeFile(
-        json.dumps(topologyMatrix.to_dict(), ensure_ascii=False, indent=4),
-        outPath,
-        "adjacency_matrix.json",
-    )
-    ExitFreeCadUseCase.call()
+    # ExitFreeCadUseCase.call() Сейчас пока не нужна
+    # return intersection_geometry, sequences, topologyMatrix.to_dict()
 
 
-#main()
+# main()

freecad_workbench/freecad/robossembler/get_sequences.py

@@ -42,20 +42,36 @@ 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)
+# data = load_data('path_to_adjacency_matrix.json')
+# # constraints = load_constraints('constraints.json')
+# all_parts = data['allParts']
+# print(all_parts)
+# 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)
+# 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')
+# save_sequences(all_sequences, 'valid_sequences.json')
 
-print(f"Найдено {len(all_sequences)} допустимых последовательностей сборки.")
+# print(f"Найдено {len(all_sequences)} допустимых последовательностей сборки.")
+
+def process_adjacency_data(topology_matrix):
+    all_parts = topology_matrix['allParts']
+    graph = create_graph(topology_matrix)
+    first_detail = topology_matrix['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)
+
+    return all_parts, graph, first_detail, leaf_nodes, all_sequences

freecad_workbench/freecad/robossembler/graph_visualisation.py

@@ -3,7 +3,7 @@ import networkx as nx
 import matplotlib.pyplot as plt
 
 # Загружаем данные из файла
-with open('adjacency_matrix.json', 'r') as file:
+with open('path_tp_simplified_adjacency_matrix.json', 'r') as file:
     data = json.load(file)
 
 # Создаем пустой граф

freecad_workbench/freecad/robossembler/init_gui.py

@@ -2,7 +2,6 @@ import os
 import FreeCADGui as Gui
 import FreeCAD as App
 
-from .TranslateUtils import translate
 from . import ICONPATH, TRANSLATIONSPATH, Frames
 from .version import __version__
 
@@ -15,6 +14,14 @@ __url__ = ["https://robossembler.org"]
 __status__ = 'development'
 
 
+def QT_TRANSLATE_NOOP(ctx, txt):
+    return txt
+
+
+def translate(ctx, txt):
+    return txt
+
+
 class Robossembler(Gui.Workbench):
     """
     class which gets initiated at startup of the gui

freecad_workbench/freecad/robossembler/pddl/insertion_vector_predicate/main.py

@@ -105,7 +105,7 @@ def main():
     #     args.print_helper()
     # if (aspDir[aspDir.__len__() - 1] != '/'):
     #     aspDir += '/'
-    aspDir = "/home/markvoltov/GitProjects/framework/test_models/"
+    aspDir = "path_to_models/"
     sequences = FS.readJSON(aspDir + 'sequences.json').get('sequences')
 
     assemblyDirNormalize = []

freecad_workbench/freecad/robossembler/simplified_adjacency_matrix.json

@@ -0,0 +1,76 @@
+{
+    "allParts": [
+        "body_down",
+        "body_up",
+        "sol_gear",
+        "output_shaft",
+        "planet_gear",
+        "planet_gear003",
+        "planet_gear004",
+        "planet_gear005",
+        "planet_gear002",
+        "bolt",
+        "bolt2",
+        "bolt3",
+        "bolt4"
+    ],
+    "matrix": {
+        "body_down": [
+            "sol_gear",
+            "planet_gear",
+            "planet_gear003",
+            "planet_gear004",
+            "planet_gear005",
+            "planet_gear002",
+            "body_up"
+        ],
+        "body_up": [
+            "body_down",
+            "output_shaft"
+        ],
+        "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"
+        ]
+
+    }
+}

freecad_workbench/freecad/robossembler/solve_optimizer.py

@@ -0,0 +1,175 @@
+'''
+Файл, содержащий скрипт для обработки и упрощения матрицы смежности. Запускается через команду в основном меню верстака freecad
+'''
+
+
+import json
+import FreeCAD as App
+from geometric_feasibility_predicate.main import main as asm_analysis
+from constraints_operator import collect_assembly_settings
+from clusterisation_sequences import ClusterisationSequenceUseCase
+
+
+# === Для работы с json-файлами. Работает. ===
+def simplify_adjacency_matrix_json(assembly_file, adjacency_file, output_file):
+    def load_json(file_path):
+        with open(file_path, 'r', encoding='utf-8') as file:
+            return json.load(file)
+
+    def save_json(file_path, data):
+        with open(file_path, 'w', encoding='utf-8') as file:
+            json.dump(data, file, ensure_ascii=False, indent=4)
+
+    assembly_settings = load_json('/assembly_settings.json')
+    adjacency_matrix = load_json('/adjacency_matrix.json')
+
+    fasteners = set()
+    for item in assembly_settings:
+        if item.get("Type") == "fastener_set":
+            fasteners.add(item["Parent"])
+            fasteners.add(item["Child"])
+
+    simplified_matrix = {
+        "allParts": [],
+        "matrix": {}
+    }
+
+    for part in adjacency_matrix["allParts"]:
+        if part not in fasteners:
+            simplified_matrix["allParts"].append(part)
+            neighbors = [
+                neighbor for neighbor in adjacency_matrix["matrix"].get(part, [])
+                if neighbor not in fasteners
+            ]
+            if neighbors or part not in fasteners:
+                simplified_matrix["matrix"][part] = neighbors
+
+    save_json(output_file, simplified_matrix)
+
+
+# simplify_adjacency_matrix('assembly_settings.json', 'adjacency_matrix.json', 'simplified_adjacency_matrix.json')
+
+
+def restore_full_sequence_json(assembly_file, sequence_file, output_file):
+    def load_json(file_path):
+        with open(file_path, 'r', encoding='utf-8') as file:
+            return json.load(file)
+
+    def save_json(file_path, data):
+        with open(file_path, 'w', encoding='utf-8') as file:
+            json.dump(data, file, ensure_ascii=False, indent=4)
+
+    assembly_settings = load_json(assembly_file)
+    sequence = load_json(sequence_file)
+
+    full_sequence = []
+    sequence_set = set(sequence)
+
+    for item in sequence:
+        full_sequence.append(item)
+        for setting in assembly_settings:
+            if setting.get("Type") == "fastener_set":
+                parent = setting["Parent"]
+                child = setting["Child"]
+                if parent in sequence_set and child in sequence_set:
+                    full_sequence.append(setting["Fasteners"])
+    
+    save_json(output_file, full_sequence)
+
+
+# restore_full_sequence('assembly_settings.json', 'sequence.json', 'full_sequence.json')
+
+
+# ==== Для работы с внутренними переменными
+
+def simplify_adjacency_matrix(assembly_settings, adjacency_matrix):
+    fasteners = set()
+    for item in assembly_settings:
+        if item.get("Type") == "fastener_set":
+            fasteners.add(item["Parent"])
+            fasteners.add(item["Child"])
+
+    simplified_matrix = {
+        "allParts": [],
+        "matrix": {}
+    }
+
+    for part in adjacency_matrix["allParts"]:
+        # Добавляем все детали, включая крепеж, в simplified_matrix["allParts"]
+        simplified_matrix["allParts"].append(part)
+        
+        # Получаем соседей, исключая только крепежные элементы
+        neighbors = [
+            neighbor for neighbor in adjacency_matrix["matrix"].get(part, [])
+            if neighbor not in fasteners
+        ]
+        
+        # Если у части есть соседи, добавляем их в матрицу
+        if neighbors:
+            simplified_matrix["matrix"][part] = neighbors
+
+    return simplified_matrix
+
+
+def restore_full_sequence(assembly_settings, sequences):
+    full_sequences = []
+
+    for sequence in sequences:
+        full_sequence = []
+        sequence_set = set(sequence)
+
+        # Сначала добавляем все детали в полную последовательность
+        for item in sequence:
+            full_sequence.append(item)
+
+        # Теперь добавляем крепежные элементы после элемента с наибольшим порядковым номером
+        for setting in assembly_settings:
+            if setting.get("Type") == "fastener_set":
+                parent = setting["Parent"]
+                child = setting["Child"]
+                fasteners = setting["Fasteners"]
+                
+                # Проверяем, если родитель и ребенок в последовательности
+                if (parent in sequence_set) and (child in sequence_set):
+                    # Находим индексы родителя и ребенка в полной последовательности
+                    parent_index = full_sequence.index(parent)
+                    child_index = full_sequence.index(child)
+
+                    # Находим максимальный индекс между родителем и ребенком
+                    max_index = max(parent_index, child_index)
+
+                    # Проверяем, содержатся ли крепежные элементы уже в последовательности
+                    if not any(fastener in full_sequence for fastener in fasteners):
+                        # Добавляем крепежные элементы после элемента child
+                        full_sequence[max_index + 1:max_index + 1] = fasteners
+
+        full_sequences.append(full_sequence)
+
+    return full_sequences
+
+
+
+
+
+
+
+def main():
+
+    App.open('/home/markvoltov/GitProjects/framework/test_models/test_reductor.FCStd')
+    if App.ActiveDocument:
+        intersection_geometry, sequences, topologyMatrix = asm_analysis()
+
+        assembly_settings = collect_assembly_settings()
+        print(assembly_settings)     
+        simplified_matrix = simplify_adjacency_matrix(assembly_settings, topologyMatrix)
+
+        assembly_sequences = ClusterisationSequenceUseCase().call(topologyMatrix['matrix'])
+        # print('Последовательности 1', assembly_sequences)
+        assembly_sequences_simplified= ClusterisationSequenceUseCase().call(simplified_matrix['matrix'])
+        # print('Последовательности 2',assembly_sequences_simplified)
+        assembly_sequences_restored = restore_full_sequence(assembly_settings, assembly_sequences_simplified)
+        print('Последовательности 3',assembly_sequences_restored)
+    else:
+        print('Ошибка. Нет активного документа!')
+
+main()

freecad_workbench/freecad/robossembler/test.py

@@ -0,0 +1,6 @@
+adj_matrix = {
+    "A": ["B", "C"],
+    "B": ["C"],
+    "C": []}
+
+from geometric_feasibility_predicate.main import main as asm_analysis

freecad_workbench/freecad/robossembler/valid_sequences.json

@@ -0,0 +1 @@
+[]

freecad_workbench/freecad/robossembler/valid_sequences.py

@@ -15,22 +15,29 @@ 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')
+# 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']
+# 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)
+# 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')
+# save_sequences(valid_sequences, 'valid_sequences.json')
 
-print(f"Найдено {len(valid_sequences)} допустимых последовательностей сборки.")
+# print(f"Найдено {len(valid_sequences)} допустимых последовательностей сборки.")
+
+def filter_valid_sequences(adjacency_matrix, sequences, constraints):
+    all_parts = adjacency_matrix['allParts']
+    first_detail = adjacency_matrix['firstDetail']
+
+    valid_sequences = []
+    for sequence in sequences:
+        if len(set(sequence)) == len(set(all_parts)):  
+            valid_sequences.append(sequence)
+
+    return valid_sequences

test_models/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
+}

test_models/intersection_geometry.json

@@ -0,0 +1,4 @@
+{
+    "status": true,
+    "recalculations": null
+}

test_models/sequences.json

@@ -1,10 +1,3 @@
 {
-    "sequences": [
-        
-            "body_down",
-            "sol_gear",
-            "output_shaft",
-            "planet_gear",
-            "planet_gear002"
-    ]
+    "sequences": []
 }