basically done
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227
codes/analysis/brake.py
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227
codes/analysis/brake.py
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import json
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import os.path
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import time
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import pandas
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from PySide6.QtCore import Signal, QThread
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import openpyxl
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import re
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from codes.common import clibs
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class BrakeDataProcess(QThread):
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output = Signal(str, str)
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def __init__(self, dir_path, /):
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super().__init__()
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self.dir_path = dir_path
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self.idx = 0
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def logger(self, level, module, content, color="black", error="", flag="both"):
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flag = "cursor" if level.upper() == "DEBUG" else "both"
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clibs.logger(level, module, content, color, flag, signal=self.output)
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if level.upper() == "ERROR":
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raise Exception(f"{error} | {content}")
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@clibs.handle_exception
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def check_files(self, rawdata_dirs, result_files):
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msg_wrong = "需要有四个文件和若干个数据文件夹，可参考如下确认：<br>"
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msg_wrong += "- reach33/66/100_XXXXXXX.xlsx<br>- *.cfg<br>"
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msg_wrong += "- reach33_load33_speed33<br>- reach33_load33_speed66<br>...<br>- reach100_load100_speed66<br>- reach100_load100_speed100<br>"
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if len(result_files) != 4 or len(rawdata_dirs) == 0:
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self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")
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config_file, reach33_file, reach66_file, reach100_file = None, None, None, None
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for result_file in result_files:
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filename = result_file.split("/")[-1]
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if re.match(".*\\.cfg", filename):
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config_file = result_file
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elif filename.startswith("reach33_") and filename.endswith(".xlsx"):
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reach33_file = result_file
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elif filename.startswith("reach66_") and filename.endswith(".xlsx"):
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reach66_file = result_file
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elif filename.startswith("reach100_") and filename.endswith(".xlsx"):
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reach100_file = result_file
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else:
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if not (config_file and reach33_file and reach66_file and reach100_file):
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self.logger("ERROR", "brake", msg_wrong, "red", "InitFileError")
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reach_s = ['reach33', 'reach66', 'reach100']
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load_s = ['load33', 'load66', 'load100']
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speed_s = ['speed33', 'speed66', 'speed100']
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prefix = []
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for rawdata_dir in rawdata_dirs:
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components = rawdata_dir.split("/")[-1].split('_') # reach_load_speed
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prefix.append(components[0])
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if components[0] not in reach_s or components[1] not in load_s or components[2] not in speed_s:
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msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式<br>"
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msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例<br>"
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msg += "规则解释：reach66_load100_speed33，表示 66% 臂展，100% 负载以及 33% 速度情况下的测试结果文件夹<br>"
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self.logger("ERROR", "brake", msg, "red", "WrongDataFolder")
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_, rawdata_files = clibs.traversal_files(rawdata_dir, self.output)
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if len(rawdata_files) != 3:
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msg = f"数据目录 {rawdata_dir} 下数据文件个数错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
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self.logger("ERROR", "brake", msg, "red", "WrongDataFile")
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for rawdata_file in rawdata_files:
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if not rawdata_file.endswith(".data"):
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msg = f"数据文件 {rawdata_file} 后缀错误，每个数据目录下有且只能有三个以 .data 为后缀的数据文件"
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self.logger("ERROR", "brake", msg, "red", "WrongDataFile")
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result_files = []
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for _ in [reach33_file, reach66_file, reach100_file]:
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if _.split("/")[-1].split("_")[0] in set(prefix):
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result_files.append(_)
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self.logger("INFO", "brake", "数据目录合规性检查结束，未发现问题......", "green")
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return config_file, result_files
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@clibs.handle_exception
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def get_configs(self, config_file):
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try:
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with open(config_file, mode="r", encoding="utf-8") as f_config:
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configs = json.load(f_config)
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p_dir = config_file.split('/')[-2]
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if not re.match("^[jJ][123]$", p_dir):
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self.logger("ERROR", "brake", "被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError")
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axis = int(p_dir[-1]) # 要处理的轴
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rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio
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avs = configs["MOTION"]["JOINT_MAX_SPEED"]
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rr = rrs[axis-1]
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av = avs[axis-1]
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return av, rr
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except Exception as Err:
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self.logger("ERROR", "brake", f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查<br>{Err}", "red", "OpenFileError")
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def now_doing_msg(self, docs, flag):
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now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time()))
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file_type = 'file' if os.path.isfile(docs) else 'dir'
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if flag == 'start' and file_type == 'dir':
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self.logger("INFO", "brake", f"[{now}] 正在处理目录 {docs} 中的数据......")
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elif flag == 'start' and file_type == 'file':
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self.logger("INFO", "brake", f"[{now}] 正在处理文件 {docs} 中的数据......")
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elif flag == 'done' and file_type == 'dir':
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self.logger("INFO", "brake", f"[{now}] 目录 {docs} 数据文件已处理完毕")
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elif flag == 'done' and file_type == 'file':
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self.logger("INFO", "brake", f"[{now}] 文件 {docs} 数据已处理完毕")
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@staticmethod
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@clibs.handle_exception
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def data2result(df, ws_result, row_start, row_end):
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data = []
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for row in range(row_start, row_end):
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data.append(df.iloc[row, 0])
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data.append(df.iloc[row, 1])
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data.append(df.iloc[row, 2])
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i = 0
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row_max = 1000 if row_end - row_start < 1000 else row_end - row_start + 100
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for row in range(2, row_max):
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try:
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ws_result.cell(row=row, column=1).value = data[i]
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ws_result.cell(row=row, column=2).value = data[i + 1]
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ws_result.cell(row=row, column=3).value = data[i + 2]
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i += 3
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except Exception:
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ws_result.cell(row=row, column=1).value = None
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ws_result.cell(row=row, column=2).value = None
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ws_result.cell(row=row, column=3).value = None
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@clibs.handle_exception
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def get_row_range(self, data_file, df, conditions, av, rr):
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row_start, row_end = 0, 0
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ratio = float(conditions[2].removeprefix('speed')) / 100
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av_max = av * ratio
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threshold = 0.95
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for row in range(df.index[-1] - 1, -1, -10):
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if df.iloc[row, 2] != 0:
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row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点
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break
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else:
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self.logger("ERROR", "brake", f"数据文件 {data_file} 采集的数据中没有 ESTOP 为非 0 的情况，需要确认", "red", "StartNotFoundError")
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for row in range(row_start, df.index[-1] - 1, 10):
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speed_row = df.iloc[row, 0] * clibs.RADIAN * rr * 60 / 360
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if abs(speed_row) < 1:
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row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1
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break
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else:
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self.logger("ERROR", "brake", f"数据文件 {data_file} 最后的速度未降为零", "red", "SpeedNotZeroError")
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av_estop = abs(df.iloc[row_start - 20:row_start, 0].abs().mean() * clibs.RADIAN)
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if abs(av_estop / av_max) < threshold:
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filename = data_file.split("/")[-1]
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msg = f"[av_estop: {av_estop:.2f} | shouldbe: {av_max:.2f}] 数据文件 {filename} 触发 ESTOP 时未采集到指定百分比的最大速度，需要检查"
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self.logger("WARNING", "brake", msg, "#8A2BE2")
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return row_start, row_end
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@staticmethod
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@clibs.handle_exception
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def get_shtname(conditions, count):
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# 33%负载_33%速度_1 - reach/load/speed
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load = conditions[1].removeprefix('load')
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speed = conditions[2].removeprefix('speed')
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result_sheet_name = f"{load}%负载_{speed}%速度_{count}"
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return result_sheet_name
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@clibs.handle_exception
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def single_file_process(self, data_file, wb, count, av, rr):
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df = pandas.read_csv(data_file, sep='\t')
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conditions = data_file.split("/")[-2].split("_") # reach/load/speed
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shtname = self.get_shtname(conditions, count)
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ws = wb[shtname]
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row_start, row_end = self.get_row_range(data_file, df, conditions, av, rr)
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self.data2result(df, ws, row_start, row_end)
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@clibs.handle_exception
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def data_process(self, result_file, rawdata_dirs, av, rr):
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filename = result_file.split("/")[-1]
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self.logger("INFO", "brake", f"正在打开文件 {filename}，这可能需要一些时间......", "blue")
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try:
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wb = openpyxl.load_workbook(result_file)
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except Exception as Err:
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self.logger("ERROR", "brake", f"{filename}文件打开失败，可能是文件已损坏，确认后重新执行！<br>{Err}", "red", "CannotOpenFile")
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prefix = filename.split('_')[0]
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for rawdata_dir in rawdata_dirs:
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if rawdata_dir.split("/")[-1].split('_')[0] == prefix:
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self.now_doing_msg(rawdata_dir, 'start')
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_, data_files = clibs.traversal_files(rawdata_dir, self.output)
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for idx in range(3):
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self.single_file_process(data_files[idx], wb, idx+1, av, rr)
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# threads = [
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# threading.Thread(target=self.single_file_process, args=(data_files[0], wb, 1, av, rr)),
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# threading.Thread(target=self.single_file_process, args=(data_files[1], wb, 2, av, rr)),
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# threading.Thread(target=self.single_file_process, args=(data_files[2], wb, 3, av, rr))
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# ]
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# [t.start() for t in threads]
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# [t.join() for t in threads]
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self.now_doing_msg(rawdata_dir, 'done')
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self.logger("INFO", "brake", f"正在保存文件 {filename}，这可能需要一些时间......<br>", "blue")
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wb.save(result_file)
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wb.close()
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@clibs.handle_exception
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def processing(self):
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time_start = time.time()
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clibs.running[self.idx] = 1
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rawdata_dirs, result_files = clibs.traversal_files(self.dir_path, self.output)
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config_file, result_files = self.check_files(rawdata_dirs, result_files)
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av, rr = self.get_configs(config_file)
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for result_file in result_files:
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self.data_process(result_file, rawdata_dirs, av, rr)
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self.logger("INFO", "brake", "-"*60 + "<br>全部处理完毕<br>", "purple")
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time_total = time.time() - time_start
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msg = f"处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s"
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self.logger("INFO", "brake", msg)
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