aio_first_edtion/aio/code/data_process/current.py

from openpyxl import load_workbook
from os import scandir
from os.path import exists
from sys import argv
from pandas import read_csv, concat, set_option
from re import match
from threading import Thread
from time import sleep
from csv import reader, writer


class GetThreadResult(Thread):
    def __init__(self, func, args=()):
        super(GetThreadResult, self).__init__()
        self.func = func
        self.args = args
        self.result = 0

    def run(self):
        sleep(1)
        self.result = self.func(*self.args)

    def get_result(self):
        Thread.join(self)  # 等待线程执行完毕
        try:
            return self.result
        except Exception as Err:
            return None


def w2t_local(msg, wait, w2t):
    while True:
        global stop
        if stop == 0 and wait != 0:
            sleep(1)
            w2t(msg, wait, 0, 'orange')
        else:
            break


def traversal_files(path, w2t):
    # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录
    # 参数：路径
    # 返回值：路径下的文件夹列表 路径下的文件列表
    if not exists(path):
        msg = f'数据文件夹{path}不存在，请确认后重试......'
        w2t(msg, 0, 8, 'red')
    else:
        dirs = []
        files = []
        for item in scandir(path):
            if item.is_dir():
                dirs.append(item.path)
            elif item.is_file():
                files.append(item.path)

        return dirs, files


def initialization(path, sub, w2t):
    _, data_files = traversal_files(path, w2t)
    count = 0

    for data_file in data_files:
        filename = data_file.split('\\')[-1]
        if data_file.endswith('configs.xlsx'):
            count += 1
        elif sub == 'cycle' and data_file.endswith('.xlsx'):
            count += 1
        else:
            if not (match('j[1-7].*\\.data', filename) or match('j[1-7].*\\.csv', filename)):
                print(f"不合规 {data_file}")
                msg = f"所有文件必须以 jx_ 开头，以 .data/csv 结尾（x取值1-7），请检查后重新运行。"
                w2t(msg, 0, 6, 'red')

    if not ((sub == 'cycle' and count == 2) or (sub != 'cycle' and count == 1)):
        w2t("使用max/avg功能时，需要有配置文件表格；使用cycle功能时，需要有电机电流数据处理和配置文件两个表格，确认后重新运行！", 0, 5, 'red')

    return data_files


def current_max(data_files, rcs, trq, w2t):
    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
    for data_file in data_files:
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
        else:
            continue

        cols = len(df.columns)
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        rca = rcs[axis-1]

        col = df.columns.values[trq-1]
        c_max = df[col].abs().max()

        scale = 1 if data_file.endswith('.csv') else 1000
        _ = abs(c_max/scale*rca)
        current[axis].append(_)
        w2t(f"{data_file}: {_:.4f}")

        with open(data_file, 'a+') as f_data:
            sep = '\t' if data_file.endswith('.data') else ','
            csv_writer = writer(f_data, delimiter=sep)
            csv_writer.writerow([''] * (cols-1) + [_])

    for axis, cur in current.items():
        if not cur:
            continue
        else:
            w2t(f"{axis}轴数据：", 1, 0, 'purple')
            for value in cur:
                w2t(f"{value:.4f} ", 1, 0, 'purple')
            w2t('')
    w2t("\n【MAX】数据处理完毕......")
    return current


def current_avg(data_files, rcs, trq, w2t):
    current = {1: [], 2: [], 3: [], 4: [], 5: [], 6: [], 7: []}
    for data_file in data_files:
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
        else:
            continue

        cols = len(df.columns)
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        rca = rcs[axis-1]

        col = df.columns.values[trq-1]
        c_std = df[col].std()
        c_avg = df[col].mean()

        scale = 1 if data_file.endswith('.csv') else 1000
        _ = (abs(c_avg)+c_std*3)/scale*rca
        current[axis].append(_)
        w2t(f"{data_file}: {_:.4f}")

        with open(data_file, 'a+') as f_data:
            sep = '\t' if data_file.endswith('.data') else ','
            csv_writer = writer(f_data, delimiter=sep)
            csv_writer.writerow([''] * (cols-1) + [_])

    for axis, cur in current.items():
        if not cur:
            continue
        else:
            w2t(f"{axis}轴数据：", 1, 0, 'purple')
            for value in cur:
                w2t(f"{value:.4f} ", 1, 0, 'purple')
            w2t('')
    w2t("\n【AVG】数据处理完毕......")
    return current


def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
    result = None
    hold = []
    single = []
    for data_file in data_files:
        filename = data_file.split('\\')[-1]
        if data_file.endswith('.xlsx') and not data_file.endswith('configs.xlsx'):
            result = data_file
        elif match('j[1-7]_hold_.*\\.data', filename) or match('j[1-7]_hold_.*\\.csv', filename):
            hold.append(data_file)
        elif match('j[1-7]_.*\\.data', filename) or match('j[1-7]_.*\\.csv', filename):
            single.append(data_file)

    w2t(f"正在打开文件 {result}，需要 10s 左右", 1, 0, 'orange')
    global stop
    stop = 0
    t_excel = GetThreadResult(load_workbook, args=(result, ))
    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
    t_excel.start()
    t_wait.start()
    t_excel.join()
    wb = t_excel.get_result()
    stop = 1
    sleep(1.1)
    w2t('')

    if hold != []:
        avg = current_avg(hold, rcs, trqh, w2t)
        for axis, cur_value in avg.items():
            try:
                shtname = f"J{axis}"
                wb[shtname]["J4"].value = float(cur_value)
            except:
                pass

    if dur == 0:
        p_single(wb, single, vel, trq, rpms, rrs, w2t)
    else:
        p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t)

    w2t(f"正在保存文件 {result}，需要 10s 左右", 1, 0, 'orange')
    stop = 0
    t_excel = Thread(target=wb.save, args=(result, ))
    t_wait = Thread(target=w2t_local, args=('.', 1, w2t))
    t_excel.start()
    t_wait.start()
    t_excel.join()
    stop = 1
    sleep(1.1)
    w2t('\n')
    w2t("----------------------------------------------------------")
    w2t("全部处理完毕")


def find_point(data_file, pos, flag, df, _row_s, _row_e, w2t, exitcode, threshold, step, end_point):
    if flag == 'lt':
        while _row_e > end_point:
            speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
            if speed_avg < threshold:
                _row_e -= step
                _row_s -= step
                continue
            else:
                return _row_s, _row_e
        else:
            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到第{exitcode}个有效点...", 0, exitcode, 'red')
    elif flag == 'gt':
        while _row_e > end_point:
            speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
            if speed_avg > threshold:
                _row_e -= step
                _row_s -= step
                continue
            else:
                return _row_s, _row_e
        else:
            w2t(f"[{pos}] {data_file}数据有误，需要检查，无法找到有效起始点或结束点...", 0, exitcode, 'red')


def p_single(wb, single, vel, trq, rpms, rrs, w2t):
    # 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
    # 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
    # 3. 记录第二个点的位置，并将其中的数据拷贝至对应位置
    for data_file in single:
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        shtname = f"J{axis}"
        rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
        scale = 1000 if data_file.endswith('.csv') else 1
        ws = wb[shtname]
        addition = 1
        set_option("display.precision", 2)
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
            rr = rrs[axis-1]
            addition = 180 / 3.1415926 * 60 / 360 * rr
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
            csv_reader = reader(open(data_file))
            i = 0
            cycle = 0.001
            for row in csv_reader:
                i += 1
                if i == 3:
                    cycle = float(row[0].split(':')[1].split('ms')[0]) / 1000
                    break
            ws["H11"] = cycle

        col_names = list(df.columns)
        df_1 = df[col_names[vel-1]].multiply(rpm*addition)
        df_2 = df[col_names[trq-1]].multiply(scale)
        print(df_1.abs().max())
        df = concat([df_1, df_2], axis=1)

        _step = 5 if data_file.endswith('.csv') else 50
        _end_point = 30 if data_file.endswith('.csv') else 200
        _adjust = 0 if data_file.endswith('.csv') else 150
        _row_e = df.index[-1]
        _row_s = _row_e - _end_point
        speed_avg = df.iloc[_row_s:_row_e, 0].abs().mean()
        if speed_avg < 2:
            # 过滤尾部为零无效数据
            _row_s, _row_e = find_point(data_file, 'a1', 'lt', df, _row_s, _row_e, w2t, 1, threshold=5, step=_step, end_point=_end_point)
            # 找到第一个起始点 row_end，继续找到有数据的部分，后面有一段有效数据区
            row_end = _row_e - _adjust
            _row_e -= _end_point
            _row_s -= _end_point
            _row_s, _row_e = find_point(data_file, 'a2', 'gt', df, _row_s, _row_e, w2t, 3, threshold=5, step=_step, end_point=_end_point)
            # 速度已经快要降为零了，继续寻找下一个速度上升点
            _row_e -= _end_point
            _row_s -= _end_point
            _row_s, _row_e = find_point(data_file, 'a3', 'lt', df, _row_s, _row_e, w2t, 3, threshold=5, step=_step, end_point=_end_point)
        elif speed_avg > 2:
            # 过滤尾部非零无效数据
            _row_s, _row_e = find_point(data_file, 'b1', 'gt', df, _row_s, _row_e, w2t, 2, threshold=5, step=_step, end_point=_end_point)
            # 找到第一个起始点 row_end，继续找到有数据的部分，后面有一段零数据区
            row_end = _row_e - _adjust
            _row_e -= _end_point
            _row_s -= _end_point
            _row_s, _row_e = find_point(data_file, 'b2', 'lt', df, _row_s, _row_e, w2t, 4, threshold=5, step=_step, end_point=_end_point)
            # 目前已经有一点的速度值了，继续往前搜寻下一个速度为零的点
            _row_e -= _end_point
            _row_s -= _end_point
            _row_s, _row_e = find_point(data_file, 'b3', 'gt', df, _row_s, _row_e, w2t, 4, threshold=5, step=_step, end_point=_end_point)

        row_start = _row_s + _adjust
        data = []
        for row in range(row_start, row_end):
            data.append(df.iloc[row, 0])
            data.append(df.iloc[row, 1])

        i = 0
        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
            for cell in row:
                try:
                    _ = f"{data[i]:.2f}"
                    cell.value = float(_)
                    i += 1
                except:
                    cell.value = None


def p_scenario(wb, single, vel, trq, rpms, rrs, dur, w2t):
    for data_file in single:
        cycle = 0.001
        axis = int(data_file.split('\\')[-1].split('_')[0].removeprefix('j'))
        shtname = f"J{axis}"
        rpm = rpms[axis-1] if data_file.endswith('.csv') else 1
        scale = 1000 if data_file.endswith('.csv') else 1
        ws = wb[shtname]
        addition = 1
        set_option("display.precision", 2)
        if data_file.endswith('.data'):
            df = read_csv(data_file, sep='\t')
            rr = rrs[axis-1]
            addition = 180 / 3.1415926 * 60 / 360 * rr
        elif data_file.endswith('.csv'):
            df = read_csv(data_file, sep=',', encoding='gbk', header=8)
            csv_reader = reader(open(data_file))
            i = 0
            for row in csv_reader:
                i += 1
                if i == 3:
                    cycle = float(row[0].split(':')[1].split('ms')[0]) / 1000
                    break

        ws["H11"] = cycle

        col_names = list(df.columns)
        df_1 = df[col_names[vel-1]].multiply(rpm*addition)
        df_2 = df[col_names[trq-1]].multiply(scale)
        df = concat([df_1, df_2], axis=1)

        row_start = 300
        row_end = row_start + int(dur/cycle)
        if row_end > df.index[-1]:
            w2t(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...", 0, 9, 'red')

        data = []
        for row in range(row_start, row_end):
            data.append(df.iloc[row, 0])
            data.append(df.iloc[row, 1])

        i = 0
        for row in ws.iter_rows(min_row=2, min_col=2, max_row=150000, max_col=3):
            for cell in row:
                try:
                    _ = f"{data[i]:.2f}"
                    cell.value = float(_)
                    i += 1
                except:
                    cell.value = None


def get_configs(configfile, w2t):
    _wb = load_workbook(configfile, read_only=True)
    _ws = _wb['Target']
    rcs = []
    rrs = []
    rpms = []
    for i in range(2, 9):
        try:
            rpms.append(float(_ws.cell(row=4, column=i).value))
        except:
            rpms.append(0.0)

        try:
            rcs.append(float(_ws.cell(row=6, column=i).value))
        except:
            rcs.append(0.0)

        try:
            rrs.append(float(_ws.cell(row=2, column=i).value))
        except:
            rrs.append(0.0)

    return rpms, rcs, rrs


def main(path, sub, dur, vel, trq, trqh, w2t):
    data_files = initialization(path, sub, w2t)
    rpms, rcs, rrs = get_configs(path + '\\configs.xlsx', w2t)
    if sub == 'max':
        current_max(data_files, rcs, trq, w2t)
    elif sub == 'avg':
        current_avg(data_files, rcs, trq, w2t)
    elif sub == 'cycle':
        current_cycle(dur, data_files, rcs, rrs,  vel, trq, trqh, rpms, w2t)
    else:
        pass


if __name__ == '__main__':
    stop = 0
    main(*argv[1:])