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v0.1.0(2024/05/29)

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1. 修改为customtkinter图形化界面
2. 支持工业机器人制动数据处理（理论上支持，测试数据有问题，待验证）
3. 删除configs.xlsx配置表格，直接在界面配置，新增layout.xlsx文件，存储customtkinter布局
4. 电流尚未支持
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gitea
2024-05-29 19:15:44 +08:00
parent 1cee89cd0a
commit 05f461f8c1
6 changed files with 471 additions and 144 deletions
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240
rokae/aio/brake.py
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@@ -7,13 +7,14 @@ from threading import Thread
import pandas
def traversal_files(path):
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 os.path.exists(path):
msg = f'数据文件夹{path}不存在，请确认后重试......'
warn_pause_exit(msg, 1, 11)
w2t(msg, 1)
else:
dirs = []
files = []
@@ -26,14 +27,14 @@ def traversal_files(path):
return dirs, files
def get_threshold_step(excel_file, AXIS):
def get_threshold_step(excel_file, axis):
# 功能：负载和速度100%，且是j2的时候，做特殊处理
# 参数：新生成的excel，轴号
# 返回值：速度差阈值，处理步长
conditions = sorted(excel_file.split('\\')[-2].split('_'))
# 只有负载和速度是100%时，才会启用更敏感的step
flg = 1 if conditions[0][-3:] == '100' and conditions[2][-3:] == '100' else 0
if flg == 1 and AXIS == 2:
if flg == 1 and axis == 2:
threshold = 30
step = 5
else:
@@ -43,24 +44,24 @@ def get_threshold_step(excel_file, AXIS):
return threshold, step
def find_row_start(data_file, df, conditions, AV, RR, AXIS):
def find_row_start(data_file, df, conditions, av, rr, axis, vel, trq, w2t, rpm):
# 功能：查找数据文件中有效数据的行号，也即最后一个速度下降的点位
# 参数：如上
# 返回值：速度下降点位，最后的数据点位
ratio = float(conditions[1].removeprefix('speed'))/100
speed_max = AV * ratio * RR / 6
speed_max = av * ratio * rr / 6
row_max = row_start = df.index[-1]
threshold, step = get_threshold_step(data_file, AXIS)
threshold, step = get_threshold_step(data_file, axis)
while row_start > step+1:
speed = df.iloc[row_start, 0]
speed = df.iloc[row_start, vel-1] * rpm
if int(speed) < 1:
row_start -= 50
continue
_ = []
for i in range(row_start, row_start-step+1, -1):
_.append(df.iloc[i, 0])
_.append(df.iloc[i, vel-1] * rpm)
speed_avg = abs(sum(_))/len(_)
if abs(speed_avg-speed_max) < threshold:
@@ -69,8 +70,8 @@ def find_row_start(data_file, df, conditions, AV, RR, AXIS):
else:
row_start -= step
else:
msg = f"可能是{data_file},这个文件数据采集有问题，比如采集的时机不对，也有可能是程序步长设定问题，请检查......"
warn_pause_exit(msg, 1, 9)
msg = f"可能是{data_file}这个文件数据采集有问题，比如未采集理论速度值，也有可能是程序步长设定问题，请检查......"
w2t(msg, 2)
return row_max, row_start
@@ -87,7 +88,7 @@ def find_result_sheet_name(conditions, count):
return result_sheet_name
def copy_data_to_result(df, ws_result, row_max, row_start):
def copy_data_to_result(df, ws_result, row_max, row_start, vel, trq, rpm):
# 功能：将数据文件中有效数据拷贝至结果文件对应的 sheet
# 参数：如上
# 返回值：-
@@ -98,11 +99,12 @@ def copy_data_to_result(df, ws_result, row_max, row_start):
# 将合适的数据复制到结果文件
row_max = row_start + 399 if row_max-row_start > 400 else row_max
rc = 1 if rpm == 1 else 1000
data = []
for i in range(row_start, row_max+1):
data.append(df.iloc[i, 0])
data.append(df.iloc[i, 1])
data.append(df.iloc[i, vel-1] * rpm)
data.append(df.iloc[i, trq-1] * rc)
i = 0
for row in ws_result.iter_rows(min_row=2, min_col=1, max_row=row_max - row_start + 2, max_col=2):
@@ -111,90 +113,136 @@ def copy_data_to_result(df, ws_result, row_max, row_start):
i = i + 1
def single_file_process(data_file, wb_result, count, AV, RR, RC, AXIS):
def single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, rpm):
# 功能：完成单个数据文件的处理
# 参数：如上
# 返回值：-
df = pandas.read_csv(data_file, sep='\t')
if data_file.endswith('.data'):
sep = '\t'
df = pandas.read_csv(data_file, sep=sep)
elif data_file.endswith('.csv'):
sep = ','
df = pandas.read_csv(data_file, sep=sep, encoding='gbk', header=8)
conditions = sorted(data_file.split('\\')[-2].split('_')[1:])
result_sheet_name = find_result_sheet_name(conditions, count)
ws_result = wb_result[result_sheet_name]
row_max, row_start = find_row_start(data_file, df, conditions, AV, RR, AXIS)
row_max, row_start = find_row_start(data_file, df, conditions, av, rr, axis, vel, trq, w2t, rpm)
copy_data_to_result(df, ws_result, row_max, row_start)
copy_data_to_result(df, ws_result, row_max, row_start, vel, trq, rpm)
ws_result["C2"] = int(2)
ws_result["G2"] = int(10+4)
def now_doing_msg(docs, flag):
def now_doing_msg(docs, flag, w2t):
# 功能：输出正在处理的文件或目录
# 参数：文件或目录，start 或 done 标识
# 返回值：-
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':
print(f"[{now}] 正在处理目录【{docs}】中的数据......")
w2t(f"[{now}] 正在处理目录 {docs} 中的数据......")
elif flag == 'start' and file_type == 'file':
print(f"[{now}] 正在处理文件【{docs}】中的数据......")
w2t(f"[{now}] 正在处理文件 {docs} 中的数据......")
elif flag == 'done' and file_type == 'dir':
print(f"[{now}] 目录【{docs}】数据文件已处理完毕......")
w2t(f"[{now}] 目录 {docs} 数据文件已处理完毕......")
elif flag == 'done' and file_type == 'file':
print(f"[{now}] 文件【{docs}】数据文件已处理完毕......")
w2t(f"[{now}] 文件 {docs} 数据已处理完毕......")
def data_process(result_file, raw_data_dirs, AV, RR, RC, AXIS):
class GetThreadResult(Thread):
def __init__(self, func, args=()):
super(GetThreadResult, self).__init__()
self.func = func
self.args = args
self.result = 0
def run(self):
time.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, exitcode, wait, w2t):
while True:
global stop
if stop == 0 and wait != 0:
time.sleep(1)
w2t(msg, exitcode, wait)
else:
break
def data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, rpm):
# 功能：完成一个结果文件的数据处理
# 参数：结果文件，数据目录，以及预读取的参数
# 返回值：-
file_name = result_file.split('\\')[-1]
w2t(f"打开文件 {file_name} 需要 1min 左右，请耐心等待", -1, 1)
global stop
stop = 0
t_excel = GetThreadResult(openpyxl.load_workbook, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', -1, 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
wb_result = t_excel.get_result()
stop = 1
time.sleep(1.1)
w2t('', -1, 0)
prefix = result_file.split('\\')[-1].split('_')[0]
wb_result = openpyxl.load_workbook(result_file)
for raw_data_dir in raw_data_dirs:
if raw_data_dir.split('\\')[-1].split('_')[0] == prefix:
now_doing_msg(raw_data_dir, 'start')
_, data_files = traversal_files(raw_data_dir)
now_doing_msg(raw_data_dir, 'start', w2t)
_, data_files = traversal_files(raw_data_dir, w2t)
# 数据文件串行处理模式---------------------------------
# count = 1
# for data_file in data_files:
# now_doing_msg(data_file, 'start')
# single_file_process(data_file, wb_result, count, AV, RR, RC, AXIS)
# now_doing_msg(data_file, 'start', w2t)
# single_file_process(data_file, wb_result, count, av, rr, axis, vel, trq, w2t, rpm)
# count += 1
# now_doing_msg(data_file, 'done')
# now_doing_msg(data_file, 'done', w2t)
# ---------------------------------------------------
# 数据文件并行处理模式---------------------------------
threads = [Thread(target=single_file_process, args=(data_files[0], wb_result, 1, AV, RR, RC, AXIS)),
Thread(target=single_file_process, args=(data_files[1], wb_result, 2, AV, RR, RC, AXIS)),
Thread(target=single_file_process, args=(data_files[2], wb_result, 3, AV, RR, RC, AXIS))]
threads = [Thread(target=single_file_process, args=(data_files[0], wb_result, 1, av, rr, axis, vel, trq, w2t, rpm)),
Thread(target=single_file_process, args=(data_files[1], wb_result, 2, av, rr, axis, vel, trq, w2t, rpm)),
Thread(target=single_file_process, args=(data_files[2], wb_result, 3, av, rr, axis, vel, trq, w2t, rpm))]
[t.start() for t in threads]
[t.join() for t in threads]
now_doing_msg(raw_data_dir, 'done')
now_doing_msg(raw_data_dir, 'done', w2t)
# ---------------------------------------------------
now_doing_msg(result_file, 'done')
print(f"保存文件需要1-2min，请耐心等待......")
wb_result.save(result_file)
wb_result.close()
now_doing_msg(result_file, 'done', w2t)
w2t(f"保存文件 {file_name} 需要 1min 左右，请耐心等待", -1, 1)
stop = 0
t_excel = Thread(target=wb_result.save, args=(result_file, ))
t_wait = Thread(target=w2t_local, args=('.', -1, 1, w2t))
t_excel.start()
t_wait.start()
t_excel.join()
stop = 1
time.sleep(1.1)
w2t('\n', -1, 0)
def warn_pause_exit(msg, pause_num, exit_num):
# 功能：打印告警信息，并推出程序
# 参数：告警信息，暂停的次数，退出的值
# 返回值：-
print(msg + '\n')
for i in range(pause_num):
_ = input("Press ENTER to continue......\n")
sys.exit(exit_num)
def check_files(raw_data_dirs, result_files):
def check_files(raw_data_dirs, result_files, w2t):
# 功能：检查数据文件以及结果文件的合规性
# 参数：数据文件夹，结果文件
# 返回值：-
if len(result_files) != 3:
msg = "结果文件数目错误，结果文件有且只有三个，请确认！"
for result_file in result_files:
print(result_file)
warn_pause_exit(msg, 1, 3)
w2t(result_file)
w2t(msg, 3)
prefix = []
for result_file in result_files:
@@ -203,11 +251,11 @@ def check_files(raw_data_dirs, result_files):
wd = result_files[0].split('\\')
del wd[-1]
wd = '\\'.join(wd)
msg = f"请关闭所有相关数据文件，并检查工作目录【{wd}】下，有且只允许有类似如下三个文件：\n" \
f"1. load33_自研_制动性能测试.xlsx\n" \
f"2. load66_自研_制动性能测试.xlsx\n" \
f"3. load100_自研_制动性能测试.xlsx"
warn_pause_exit(msg, 1, 8)
msg = f"""请关闭所有相关数据文件，并检查工作目录 {wd} 下，有且只允许有类似如下三个文件：
1. load33_自研_制动性能测试.xlsx
2. load66_自研_制动性能测试.xlsx
3. load100_自研_制动性能测试.xlsx"""
w2t(msg, 4)
for raw_data_dir in raw_data_dirs:
components = raw_data_dir.split('\\')[-1].split('_')
@@ -215,61 +263,33 @@ def check_files(raw_data_dirs, result_files):
if components[0] not in ['load33', 'load66', 'load100'] or \
components[1] not in ['speed33', 'speed66', 'speed100'] or \
components[2] not in ['reach33', 'reach66', 'reach100']:
msg = f"报错信息：数据目录【{raw_data_dir}】命名不合规，请参考如下形式\n" \
msg = f"报错信息：数据目录 {raw_data_dir} 命名不合规，请参考如下形式\n" \
f"命名规则：\n 1. loadAA_speedBB_reachCC\n 2. loadAA_reachBB_speedCC\n" \
f"规则解释：AA/BB/CC 指的是负载/速度/臂展的比例\n" \
f"load66_speed100_reach33：66% 负载，100% 速度以及 33% 臂展情况下的测试结果文件夹"
warn_pause_exit(msg, 1, 7)
w2t(msg, 5)
# 直接删掉 excel 文件
_, raw_data_files = traversal_files(raw_data_dir)
for raw_data_file in raw_data_files:
if raw_data_file.endswith(".xlsx"):
os.remove(raw_data_file)
_, raw_data_files = traversal_files(raw_data_dir)
_, raw_data_files = traversal_files(raw_data_dir, w2t)
if len(raw_data_files) != 3:
msg = f"数据目录【{raw_data_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"
warn_pause_exit(msg, 1, 6)
msg = f"数据目录 {raw_data_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"
w2t(msg, 6)
for raw_data_file in raw_data_files:
if not raw_data_file.split('\\')[-1].endswith('.data'):
msg = f"数据文件【{raw_data_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"
warn_pause_exit(msg, 1, 5)
if not (raw_data_file.split('\\')[-1].endswith('.data') or raw_data_file.split('\\')[-1].endswith('.csv')):
msg = f"数据文件 {raw_data_file} 后缀错误，每个数据目录下有且只能有三个以 .data/csv 为后缀的数据文件"
w2t(msg, 7)
print("数据目录合规性检查结束，未发现问题......")
w2t("数据目录合规性检查结束，未发现问题......")
def initialization():
# 功能：初始化，记录开始时间，读取预定义参数
# 参数：-
# 返回值：结果文件，数据文件夹，以及预定义参数
time_start = time.time()
try:
# read init configurations from config file
wb_conf = openpyxl.load_workbook('./configs.xlsx', read_only=True)
ws_conf = wb_conf['brake']
except Exception as Err:
msg = "无法在当前路径下找到或打开【configs.xlsx】文件，请确认！"
warn_pause_exit(msg, 1, 2)
DATA_DIR = ws_conf.cell(row=2, column=2).value
AXIS = int(ws_conf.cell(row=3, column=2).value)
AV = int(ws_conf.cell(row=4, column=2).value.split(',')[AXIS-1].strip())
RR = int(ws_conf.cell(row=5, column=2).value.split(',')[AXIS-1].strip())
RC = float(ws_conf.cell(row=6, column=2).value.split(',')[AXIS-1].strip())
wb_conf.close()
raw_data_dirs, result_files = traversal_files(DATA_DIR)
check_files(raw_data_dirs, result_files)
return raw_data_dirs, result_files, time_start, AV, RR, RC, AXIS
def execution(args):
def execution(path, av, rr, rpm, axis,vel, trq, w2t):
# 功能：执行处理所有数据文件
# 参数：initialization函数的返回值
# 返回值：-
raw_data_dirs, result_files, time_start, AV, RR, RC, AXIS = args
time_start = time.time()
raw_data_dirs, result_files = traversal_files(path, w2t)
check_files(raw_data_dirs, result_files, w2t)
prefix = []
for raw_data_dir in raw_data_dirs:
prefix.append(raw_data_dir.split('\\')[-1].split("_")[0])
@@ -280,25 +300,27 @@ def execution(args):
if result_file.split('\\')[-1].split('_')[0] not in set(prefix):
continue
else:
now_doing_msg(result_file, 'start')
data_process(result_file, raw_data_dirs, AV, RR, RC, AXIS)
# threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, AV, RR, RC, AXIS)))
now_doing_msg(result_file, 'start', w2t)
data_process(result_file, raw_data_dirs, av, rr, axis, vel, trq, w2t, rpm)
# threads.append(Thread(target=data_process, args=(result_file, raw_data_dirs, AV, RR, RC, AXIS)))
# [t.start() for t in threads]
# [t.join() for t in threads]
print("----------------------------------------------------------")
print("全部处理完毕")
w2t("----------------------------------------------------------")
w2t("全部处理完毕")
except Exception as Err:
print("程序运行错误，请检查配置文件是否准确设定，以及数据文件组织是否正确，也有可能是结果文件损坏，尝试重新复制一份，再运行！")
msg = "程序运行错误，请检查配置文件是否准确设定，以及数据文件组织是否正确，也有可能是结果文件损坏，尝试重新复制一份，再运行！"
w2t(msg)
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} min {time_total % 60:02.0f} s"
warn_pause_exit(msg, 1, 0)
w2t(msg)
def main():
execution(initialization())
def main(path, av, rr, rpm, axis,vel, trq, w2t):
execution(path, av, rr, rpm, axis,vel, trq, w2t)
if __name__ == "__main__":
main()
stop = 0
main(path=sys.argv[1], av=sys.argv[2], rr=sys.argv[3], rpm=sys.argv[4], axis=sys.argv[5], vel=sys.argv[6], trq=sys.argv[7], w2t=sys.argv[8])