import json import os.path import time import pandas import threading import openpyxl import re from common import clibs def check_files(rawdata_dirs, result_files, w2t): 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：\n" msg_wrong += "1. reach33_XXXXXXX.xlsx\n2. reach66_XXXXXXX.xlsx\n3. reach100_XXXXXXX.xlsx\n4. *.cfg\n" msg_wrong += "- reach33_load33_speed33\n- reach33_load33_speed66\n...\n- reach100_load100_speed66\n- reach100_load100_speed100\n" if len(result_files) != 4 or len(rawdata_dirs) == 0: w2t(msg_wrong, "red", "InitFileError") config_file, reach33_file, reach66_file, reach100_file = None, None, None, None for result_file in result_files: filename = result_file.split("/")[-1] if re.match(".*\\.cfg", filename): config_file = result_file elif filename.startswith("reach33_") and filename.endswith(".xlsx"): reach33_file = result_file elif filename.startswith("reach66_") and filename.endswith(".xlsx"): reach66_file = result_file elif filename.startswith("reach100_") and filename.endswith(".xlsx"): reach100_file = result_file else: if not (config_file and reach33_file and reach66_file and reach100_file): w2t(msg_wrong, "red", "InitFileError") reach_s = ['reach33', 'reach66', 'reach100'] load_s = ['load33', 'load66', 'load100'] speed_s = ['speed33', 'speed66', 'speed100'] prefix = [] for rawdata_dir in rawdata_dirs: components = rawdata_dir.split("/")[-1].split('_') # reach_load_speed prefix.append(components[0]) if components[0] not in reach_s or components[1] not in load_s or components[2] not in speed_s: msg = f"报错信息：数据目录 {rawdata_dir} 命名不合规，请参考如下形式\n" msg += "命名规则：reachAA_loadBB_speedCC，AA/BB/CC 指的是臂展/负载/速度的比例\n" 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\n" w2t(msg, "red", "WrongDataFolder") _, rawdata_files = clibs.traversal_files(rawdata_dir, w2t) if len(rawdata_files) != 3: 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\n" w2t(msg, "red", "WrongDataFile") for rawdata_file in rawdata_files: if not rawdata_file.endswith(".data"): 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\n" w2t(msg, "red", "WrongDataFile") result_files = [] for _ in [reach33_file, reach66_file, reach100_file]: if _.split("/")[-1].split("_")[0] in set(prefix): result_files.append(_) w2t("数据目录合规性检查结束，未发现问题......\n") return config_file, result_files def get_configs(config_file, w2t): try: with open(config_file, mode="r", encoding="utf-8") as f_config: configs = json.load(f_config) p_dir = config_file.split('/')[-2] if not re.match("^[jJ][123]$", p_dir): w2t("被处理的根文件夹命名必须是 [Jj][123] 的格式", "red", "DirNameError") axis = int(p_dir[-1]) rrs = [abs(_) for _ in configs["TRANSMISSION"]["REDUCTION_RATIO_NUMERATOR"]] # 减速比，rr for reduction ratio avs = configs["MOTION"]["JOINT_MAX_SPEED"] rr = rrs[axis-1] av = avs[axis-1] return av, rr except Exception as Err: clibs.insert_logdb("ERROR", "current", f"get_config: 无法打开 {config_file}，或获取配置文件参数错误 {Err}") w2t(f"无法打开 {config_file}，或者使用了错误的机型配置文件，需检查\n", color="red", desc="OpenFileError") def now_doing_msg(docs, flag, w2t): now = time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(time.time())) file_type = 'file' if os.path.isfile(docs) else 'dir' if flag == 'start' and file_type == 'dir': w2t(f"[{now}] 正在处理目录 {docs} 中的数据......\n") elif flag == 'start' and file_type == 'file': w2t(f"[{now}] 正在处理文件 {docs} 中的数据......\n") elif flag == 'done' and file_type == 'dir': w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕\n") elif flag == 'done' and file_type == 'file': w2t(f"[{now}] 文件 {docs} 数据已处理完毕\n") def data2result(df, ws_result, row_start, row_end, vel, trq, estop): data = [] for row in range(row_start, row_end): data.append(df.iloc[row, vel - 1]) data.append(df.iloc[row, trq - 1]) data.append(df.iloc[row, estop - 1]) i = 0 row_max = 1000 if row_end - row_start < 1000 else row_end - row_start + 100 for row in range(2, row_max): try: ws_result.cell(row=row, column=1).value = data[i] ws_result.cell(row=row, column=2).value = data[i + 1] ws_result.cell(row=row, column=3).value = data[i + 2] i += 3 except Exception: ws_result.cell(row=row, column=1).value = None ws_result.cell(row=row, column=2).value = None ws_result.cell(row=row, column=3).value = None def get_row_range(data_file, df, conditions, av, rr, vel, estop, w2t): row_start, row_end = 0, 0 ratio = float(conditions[2].removeprefix('speed')) / 100 av_max = av * ratio threshold = 0.95 for row in range(df.index[-1] - 1, -1, -10): if df.iloc[row, estop - 1] != 0: row_start = row - 20 if row - 20 > 0 else 0 # 急停前找 20 个点 break else: w2t(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\n", "red", "StartNotFoundError") for row in range(row_start, df.index[-1] - 1, 10): speed_row = df.iloc[row, vel - 1] * clibs.RADIAN * rr * 60 / 360 if abs(speed_row) < 1: row_end = row + 100 if row + 100 <= df.index[-1] - 1 else df.index[-1] - 1 break else: w2t(f"数据文件 {data_file} 最后的速度未降为零\n", "red", "SpeedNotZeroError") av_estop = abs(df.iloc[row_start - 20:row_start, vel - 1].abs().mean() * clibs.RADIAN) if abs(av_estop / av_max) < threshold: filename = data_file.split("/")[-1] w2t(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\n", "#8A2BE2") return row_start, row_end def get_shtname(conditions, count): # 33%负载_33%速度_1 - reach/load/speed load = conditions[1].removeprefix('load') speed = conditions[2].removeprefix('speed') result_sheet_name = f"{load}%负载_{speed}%速度_{count}" return result_sheet_name def single_file_process(data_file, wb, count, av, rr, vel, trq, estop, w2t): df = pandas.read_csv(data_file, sep='\t') conditions = data_file.split("/")[-2].split("_") # reach/load/speed shtname = get_shtname(conditions, count) ws = wb[shtname] row_start, row_end = get_row_range(data_file, df, conditions, av, rr, vel, estop, w2t) data2result(df, ws, row_start, row_end, vel, trq, estop) def data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, w2t): filename = result_file.split("/")[-1] w2t(f"正在打开文件 {filename}，这可能需要一些时间......\n", "blue") wb = openpyxl.load_workbook(result_file) prefix = filename.split('_')[0] for rawdata_dir in rawdata_dirs: if rawdata_dir.split("/")[-1].split('_')[0] == prefix: now_doing_msg(rawdata_dir, 'start', w2t) _, data_files = clibs.traversal_files(rawdata_dir, w2t) threads = [ threading.Thread(target=single_file_process, args=(data_files[0], wb, 1, av, rr, vel, trq, estop, w2t)), threading.Thread(target=single_file_process, args=(data_files[1], wb, 2, av, rr, vel, trq, estop, w2t)), threading.Thread(target=single_file_process, args=(data_files[2], wb, 3, av, rr, vel, trq, estop, w2t)) ] [t.start() for t in threads] [t.join() for t in threads] now_doing_msg(rawdata_dir, 'done', w2t) w2t(f"正在保存文件 {filename}，这可能需要一些时间......\n\n", "blue") wb.save(result_file) wb.close() def main(): time_start = time.time() path = clibs.data_dp["_path"] vel = int(clibs.data_dp["_vel"]) trq = int(clibs.data_dp["_trq"]) estop = int(clibs.data_dp["_estop"]) w2t = clibs.w2t rawdata_dirs, result_files = clibs.traversal_files(path, w2t) config_file, result_files = check_files(rawdata_dirs, result_files, w2t) av, rr = get_configs(config_file, w2t) clibs.stop = True t_progress = threading.Thread(target=clibs.tl_prg, args=("Processing......", )) t_progress.daemon = True t_progress.start() for result_file in result_files: data_process(result_file, rawdata_dirs, av, rr, vel, trq, estop, w2t) clibs.stop = False w2t("-"*60 + "\n全部处理完毕\n") time_end = time.time() time_total = time_end - time_start 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" w2t(msg) if __name__ == "__main__": main()