界面优化，监控逻辑优化
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@ -9,23 +9,15 @@ from codes.common import clibs
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class CurrentDataProcess(QThread):
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output = Signal(str, str)
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def __init__(self, dir_path, proc, /):
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super().__init__()
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self.dir_path = dir_path
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self.proc = proc
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self.idx = 1
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self.logger = clibs.logger
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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 initialization(self):
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_, data_files = clibs.traversal_files(self.dir_path, self.output)
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_, data_files = clibs.traversal_files(self.dir_path)
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count, config_file = 0, None
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for data_file in data_files:
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filename = data_file.split("/")[-1]
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@ -38,15 +30,14 @@ class CurrentDataProcess(QThread):
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if not re.match("^j[1-7].*\\.data$", filename):
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msg = f"不合规 {data_file}<br>"
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msg += "所有数据文件必须以 j[1-7]_ 开头，以 .data 结尾，比如j1_abcdef.data，请检查整改后重新运行"
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self.logger("ERROR", "current", msg, "red", "FilenameIllegal")
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self.logger("ERROR", "current", msg, "red")
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if count != 2:
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msg = "需要有一个机型配置文件\"*.cfg\"，以及一个数据处理文件\"T_电机电流.xlsx\"表格，请检查整改后重新运行"
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self.logger("ERROR", "current", msg, "red", "FilenameIllegal")
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self.logger("ERROR", "current", msg, "red")
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return data_files, config_file
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@clibs.handle_exception
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def current_max(self, data_files, rts):
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self.logger("INFO", "current", f"正在处理最大转矩值逻辑......")
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current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
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@ -88,7 +79,6 @@ class CurrentDataProcess(QThread):
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self.logger("INFO", "current", f"最大转矩数据处理完毕......")
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return current
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@clibs.handle_exception
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def current_avg(self, data_files, rts):
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self.logger("INFO", "current", f"正在处理平均转矩值逻辑......")
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current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: []}
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@ -131,7 +121,6 @@ class CurrentDataProcess(QThread):
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self.logger("INFO", "current", f"平均转矩数据处理完毕......")
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return current
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@clibs.handle_exception
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def current_cycle(self, data_files, rrs, rts, params):
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result, hold, single, scenario, dur_time = None, [], [], [], 0
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for data_file in data_files:
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@ -150,8 +139,8 @@ class CurrentDataProcess(QThread):
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self.logger("INFO", "current", 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)
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except Exception as Err:
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self.logger("ERROR", "current", 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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except Exception as err:
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self.logger("ERROR", "current", 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")
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ws = wb["统计"]
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for idx in range(len(params)-1):
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@ -175,7 +164,6 @@ class CurrentDataProcess(QThread):
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wb.save(result)
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wb.close()
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@clibs.handle_exception
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def find_point(self, data_file, df, flag, row_s, row_e, threshold, step, end_point, skip_scale, axis, seq):
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if flag == "lt":
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while row_e > end_point:
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@ -192,7 +180,7 @@ class CurrentDataProcess(QThread):
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self.logger("WARNING", "current", f"【lt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
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return row_s, row_e
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else:
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self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red", "AnchorNotFound")
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self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
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elif flag == "gt":
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while row_e > end_point:
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speed_avg = df.iloc[row_s:row_e].abs().mean()
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@ -208,9 +196,8 @@ class CurrentDataProcess(QThread):
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self.logger("WARNING", "current", f"【gt】{axis} 轴第 {seq} 次查找数据可能有异常，row_s = {row_s}, row_e = {row_e}！", "purple")
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return row_s, row_e
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else:
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self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red", "AnchorNotFound")
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self.logger("ERROR", "current", f"{data_file} 数据有误，需要检查，无法找到第 {seq} 个有效点......", "red")
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@clibs.handle_exception
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def get_row_number(self, threshold, flag, df, row_s, row_e, axis):
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count_1, count_2 = 0, 0
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if flag == "start" or flag == "end":
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@ -236,7 +223,6 @@ class CurrentDataProcess(QThread):
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self.logger("DEBUG", "current", f"{axis} 轴获取{places[flag]}数据 {row_e} 可能有异常，需关注！", "purple")
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return row_e
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@clibs.handle_exception
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def p_single(self, wb, single, rrs):
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# 1. 先找到第一个速度为零的点，数据从后往前找，一开始就是零的情况不予考虑
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# 2. 记录第一个点的位置，继续向前查找第二个速度为零的点，同理，一开始为零的点不予考虑
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@ -316,7 +302,7 @@ class CurrentDataProcess(QThread):
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self.logger("DEBUG", "current", f"{axis} 轴数据非零段点数：{row_middle-row_start+1}")
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self.logger("DEBUG", "current", f"{axis} 轴数据为零段点数：{row_end-row_middle+1}")
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if abs(row_end+row_start-2*row_middle) > 1000:
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self.logger("DEBUG", "current", f"{axis} 轴数据占空比异常！", "purple")
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self.logger("WARNING", "current", f"{axis} 轴数据占空比异常，处理数据可能有误，需检查！", "purple")
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data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
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for row in range(row_start, row_end+1):
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@ -340,7 +326,6 @@ class CurrentDataProcess(QThread):
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cell.value = None
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i += 1
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@clibs.handle_exception
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def p_scenario(self, wb, scenario, rrs, dur_time):
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self.logger("INFO", "current", f"本次处理的是电机电流场景数据，场景运动周期为 {dur_time}s", "blue")
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for data_file in scenario:
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@ -359,7 +344,7 @@ class CurrentDataProcess(QThread):
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row_start = 3000
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row_end = row_start + int(dur_time/cycle)
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if row_end > df.index[-1]:
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self.logger("ERROR", "current", f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "blue", "DataOverLimit")
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self.logger("ERROR", "current", f"位置超限：{data_file} 共有 {df.index[-1]} 条数据，无法取到第 {row_end} 条数据，需要确认场景周期时间...", "red")
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data, first_c, second_c, third_c, fourth_c = [], clibs.c_joint_vel-1, clibs.c_servo_trq-1, clibs.c_sensor_trq-1, clibs.c_estimate_trans_trq-1
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for row in range(row_start, row_end+1):
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@ -383,7 +368,6 @@ class CurrentDataProcess(QThread):
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ws.cell((i//4)+2, 1).value = None
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i += 1
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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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if re.match("^[NXEC]B.*", config_file.split("/")[-1]):
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@ -412,10 +396,9 @@ class CurrentDataProcess(QThread):
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self.logger("INFO", "current", f"get_configs: 额定转矩 {m_rts}")
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self.logger("INFO", "current", f"get_configs: 最大角速度 {m_avs}")
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return sc, r_rrs, m_avs, m_stall_ts, m_rts, m_max_ts, m_r_rpms, m_max_rpms, r_max_sst, r_max_t, r_avg_t, robot_type
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except Exception as Err:
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self.logger("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}", "red", "OpenFileError")
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except Exception as err:
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self.logger("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {err}", "red")
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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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@ -432,5 +415,5 @@ class CurrentDataProcess(QThread):
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self.logger("INFO", "current", "-"*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"数据处理时间：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s\n"
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msg = f"数据处理时间：{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", "current", msg)
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