history

Former-commit-id: c078eab42975bcbc5fd98aae28228937b5694d19

utils.py

@@ -2,6 +2,106 @@ import logging
 import os
 from datetime import datetime
 from enum import Enum
+from dataclasses import dataclass
+from typing import List, Tuple, Optional
+import numpy as np
+import time
+
+@dataclass
+class HistoryRecord:
+    """历史记录的单个条目"""
+    timestamp: float
+    state: str  # 'transport', 'middle', 'about', 'colored'
+    rate: float
+    volume: float
+    image: np.ndarray
+
+
+class History:
+    """滑动窗口历史记录管理类"""
+    
+    def __init__(self, max_window_size: float = 5.0, base_time = 5.0):
+        """
+        初始化历史记录管理器
+        
+        Args:
+            max_window_size: 最大窗口时间长度（秒）
+        """
+        if base_time > max_window_size:
+            max_window_size = base_time+0.2
+            # raise ValueError("Base time must be less than or equal to max window size.")
+        self.records: List[HistoryRecord] = []
+        self.max_window_size = max_window_size
+        self.fulled = False
+        self.base = None
+        self._base_time = base_time 
+    
+    def add_record(self, timestamp: float, state: str, rate: float, volume: float, image: np.ndarray):
+        """添加新的历史记录"""
+        record = HistoryRecord(timestamp, state,rate, volume, image)
+        self.records.append(record)
+        self._cleanup_old_records(timestamp)
+        if self.base is None and (timestamp-self._base_time)>= self.records[0].timestamp: 
+            base_records = self.get_recent_records(self._base_time, timestamp)
+            self.base = sum([rec.rate for rec in base_records]) / len(base_records)
+            get_endpoint_logger().info("Base rate calculated: %.2f", self.base)
+    
+    def _cleanup_old_records(self, current_time: float):
+        """清理过期的历史记录"""
+        cutoff_time = current_time - self.max_window_size
+        if not self.records and self.records[0].timestamp < cutoff_time:
+            return False
+        while self.records and self.records[0].timestamp < cutoff_time:
+            self.records.pop(0)
+        return True
+    
+    def get_records_in_timespan(self, start_time: float, end_time: Optional[float] = None) -> List[HistoryRecord]:
+        """获取指定时间段内的记录"""
+        if end_time is None:
+            return [record for record in self.records if record.timestamp >= start_time]
+        else:
+            return [record for record in self.records 
+                   if start_time <= record.timestamp <= end_time]
+    
+    def get_recent_records(self, duration: float, current_time: float) -> List[HistoryRecord]:
+        """获取最近指定时间长度内的记录"""
+        start_time = current_time - duration
+        return self.get_records_in_timespan(start_time, current_time)
+    
+    def get_state_ratio(self, target_state: str, records: Optional[List[HistoryRecord]] = None) -> float:
+        """计算指定状态在记录中的比例"""
+        if records is None:
+            records = self.records
+        
+        if not records:
+            return 0.0
+        
+        target_count = sum(1 for record in records if record.state == target_state)
+        return target_count / len(records)
+    
+    def get_states_by_type(self, target_state: str) -> List[float]:
+        """获取所有指定状态的时间戳"""
+        return [record.timestamp for record in self.records if record.state == target_state]
+    
+    def find_record_by_timestamp(self, target_timestamp: float) -> Optional[HistoryRecord]:
+        """根据时间戳查找记录"""
+        for record in self.records:
+            if record.timestamp == target_timestamp:
+                return record
+        return None
+    
+    def is_empty(self) -> bool:
+        """检查历史记录是否为空"""
+        return len(self.records) == 0
+    
+    def __len__(self) -> int:
+        """返回历史记录的数量"""
+        return len(self.records)
+    
+    def clear(self):
+        """清空所有历史记录"""
+        self.records.clear()
+
 
 class State:
     """滴定状态管理类"""