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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
This commit is contained in:
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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335
rokae/aio/aio.py
View File

@ -1,21 +1,322 @@
import openpyxl
import os.path
from threading import Thread
import tkinter.messagebox
import customtkinter
import brake
import current
import time
try:
wb_conf = openpyxl.load_workbook('./configs.xlsx', read_only=True)
ws_conf = wb_conf['attention']
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！"
brake.warn_pause_exit(msg, 1, 2)
customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
customtkinter.set_window_scaling(1.1) # window geometry dimensions
func_name = ws_conf['B2'].value
if func_name not in wb_conf.sheetnames[1:]:
msg = f"主功能选择错误，程序没有{func_name}的功能，请确认后重新输入...."
wb_conf.close()
brake.warn_pause_exit(msg, 1, 1)
else:
func_dict = {'brake': brake.main,
'current': current.main,
}
func_dict[func_name]()
class App(customtkinter.CTk):
def __init__(self):
super().__init__()
self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
self.w_param = 96
# =====================================================================
# configure window
self.title("AIO - All in one automatic toolbox")
# self.iconbitmap('./icon.ico')
screen_width = self.winfo_screenwidth()
screen_height = self.winfo_screenheight()
width = screen_width - 200
height = screen_height - 200
self.geometry(f"{width}x{height}+{100}+{100}")
self.protocol("WM_DELETE_WINDOW", self.func_end_call_back)
self.grid_rowconfigure(3, weight=1)
self.grid_columnconfigure((1, 2, 3, 4, 5, 6, 7, 8, 9), weight=1)
self.minsize(1100, 500)
# =====================================================================
# create frame sidebar(left)
self.frame_func = customtkinter.CTkFrame(self, width=120, corner_radius=0)
self.frame_func.grid(row=0, column=0, rowspan=7, sticky='nsew')
# create AIO logo
self.label_logo = customtkinter.CTkLabel(self.frame_func, text="Rokae AIO", height=60, font=customtkinter.CTkFont(family="Segoe Script Bold", size=24, weight="bold"), text_color="DarkSlateGray")
self.label_logo.grid(row=0, column=0, padx=15, pady=15)
# create start button
self.btn_start = customtkinter.CTkButton(self.frame_func, corner_radius=10, text='开始运行', font=self.my_font, command=lambda: self.thread_it(self.func_start_callback))
self.btn_start.grid(row=1, column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
# create param check button
self.btn_check = customtkinter.CTkButton(self.frame_func, corner_radius=10, text='检查参数', font=self.my_font, command=lambda: self.thread_it(self.func_check_callback))
self.btn_check.grid(row=2, column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
# create start button
self.btn_log = customtkinter.CTkButton(self.frame_func, corner_radius=10, text='保存日志', font=self.my_font, command=lambda: self.thread_it(self.func_log_callback))
self.btn_log.grid(row=3, column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
# create start button
self.btn_end = customtkinter.CTkButton(self.frame_func, corner_radius=10, text='结束运行', font=self.my_font, command=lambda: self.thread_it(self.func_end_call_back))
self.btn_end.grid(row=4, column=0, sticky='new', padx=10, pady=10, ipadx=5, ipady=5)
# create version info
self.label_version = customtkinter.CTkLabel(self.frame_func, justify='left', text="Vers: 0.1.0\nDate: 05/29/2024", font=self.my_font, text_color="DarkCyan")
self.frame_func.rowconfigure(6, weight=1)
self.label_version.grid(row=6, column=0, padx=20, pady=20, sticky='s')
# =====================================================================
self.frame_param = customtkinter.CTkFrame(self, height=240, corner_radius=10)
self.frame_param.grid(row=0, column=1, rowspan=3, columnspan=9, sticky='new', ipadx=20, ipady=10, padx=10, pady=10)
# create option menu - main function
self.menu_main = customtkinter.CTkOptionMenu(self.frame_param, values=["INIT", "brake", "current"], font=self.my_font, command=self.func_main_callback)
self.menu_main.grid(row=0, column=1, sticky='we', padx=(20, 10), pady=(10, 0))
self.menu_main.set("Start Here!")
self.menu_sub = customtkinter.CTkOptionMenu(self.frame_param)
self.label_path = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="Path", font=self.my_font)
self.label_path.grid(row=0, column=2, sticky='e', pady=(10, 5))
self.entry_path = customtkinter.CTkEntry(self.frame_param, width=680, placeholder_text="数据文件夹路径", font=self.my_font)
self.entry_path.grid(row=0, column=3, columnspan=7, padx=(5, 10), pady=(10, 5), sticky='w')
self.entry_path.configure(state='disabled')
self.label_av = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="AV", font=self.my_font)
self.label_av.grid(row=1, column=2, sticky='e', pady=(5, 5))
self.entry_av = customtkinter.CTkEntry(self.frame_param, width=self.w_param, placeholder_text=f"角速度", font=self.my_font)
self.entry_av.grid(row=1, column=3, padx=(5, 20), pady=(5, 5), sticky='w')
self.entry_av.configure(state='disabled')
self.label_rc = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="RC", font=self.my_font)
self.label_rc.grid(row=1, column=4, sticky='e', pady=(5, 5))
self.entry_rc = customtkinter.CTkEntry(self.frame_param, width=self.w_param, placeholder_text=f"额定电流", font=self.my_font)
self.entry_rc.grid(row=1, column=5, padx=(5, 20), pady=(5, 5), sticky='w')
self.entry_rc.configure(state='disabled')
self.label_rpm = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="RPM", font=self.my_font)
self.label_rpm.grid(row=1, column=6, sticky='e', pady=(5, 5))
self.entry_rpm = customtkinter.CTkEntry(self.frame_param, width=self.w_param, placeholder_text=f"额定转速", font=self.my_font)
self.entry_rpm.grid(row=1, column=7, padx=(5, 20), pady=(5, 5), sticky='w')
self.entry_rpm.configure(state='disabled')
self.label_rr = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="RR", font=self.my_font)
self.label_rr.grid(row=1, column=8, sticky='e', pady=(5, 5))
self.entry_rr = customtkinter.CTkEntry(self.frame_param, width=self.w_param, placeholder_text=f"减速比", font=self.my_font)
self.entry_rr.grid(row=1, column=9, padx=(5, 20), pady=(5, 5), sticky='w')
self.entry_rr.configure(state='disabled')
self.label_axis = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="AXIS", font=self.my_font)
self.label_axis.grid(row=2, column=2, sticky='e', pady=(5, 5))
self.option_axis = customtkinter.CTkOptionMenu(self.frame_param, values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
self.option_axis.grid(row=2, column=3, padx=(5, 20), pady=(5, 5), sticky='w')
self.option_axis.configure(state='disabled')
self.label_vel = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="Vel", font=self.my_font)
self.label_vel.grid(row=2, column=4, sticky='e', pady=(5, 5))
self.option_vel = customtkinter.CTkOptionMenu(self.frame_param, values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
self.option_vel.grid(row=2, column=5, padx=(5, 20), pady=(5, 5), sticky='w')
self.option_vel.configure(state='disabled')
self.label_trq = customtkinter.CTkLabel(self.frame_param, width=self.w_param//10, text="Trq", font=self.my_font)
self.label_trq.grid(row=2, column=6, sticky='e', pady=(5, 5))
self.option_trq = customtkinter.CTkOptionMenu(self.frame_param, values=["1", "2", "3", "4", "5", "6", "7"], width=self.w_param, font=self.my_font)
self.option_trq.grid(row=2, column=7, padx=(5, 20), pady=(5, 5), sticky='w')
self.option_trq.configure(state='disabled')
# ========================================
self.textbox = customtkinter.CTkTextbox(self, height=640, wrap='none', font=customtkinter.CTkFont(family="consolas", size=14), text_color="blue")
self.textbox.grid(row=3, column=1, rowspan=5, columnspan=13, ipadx=10, ipady=10, padx=10, pady=10, sticky='nsew')
self.textbox.configure(state='disabled')
def thread_it(self, func, *args):
""" 将函数打包进线程 """
self.myThread = Thread(target=func, args=args)
self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
self.myThread.start()
def initialization(self):
self.label_path.configure(text="Path", text_color="black")
self.label_av.configure(text="AV", text_color="black")
self.label_rc.configure(text="RC", text_color="black")
self.label_rpm.configure(text="RPM", text_color="black")
self.label_rr.configure(text="RR", text_color="black")
self.label_axis.configure(text="AXIS", text_color="black")
self.label_vel.configure(text="Vel", text_color="black")
self.label_trq.configure(text="Trq", text_color="black")
self.entry_path.configure(placeholder_text="数据文件夹路径", state="disabled")
self.entry_av.configure(placeholder_text="角速度", state="disabled")
self.entry_rc.configure(placeholder_text="额定电流", state="disabled")
self.entry_rpm.configure(placeholder_text="额定转速", state="disabled")
self.entry_rr.configure(placeholder_text="减速比", state="disabled")
self.option_axis.configure(state="disabled")
self.option_vel.configure(state="disabled")
self.option_trq.configure(state="disabled")
self.menu_sub.grid_forget()
self.textbox.delete(index1='1.0', index2='end')
self.textbox.configure(state='disabled')
def func_main_callback(self, func_name):
self.initialization()
if func_name == 'brake':
self.menu_sub = customtkinter.CTkOptionMenu(self.frame_param, values=["industrial", "cobot"], font=self.my_font, command=self.func_sub_callback)
self.menu_sub.grid(row=1, column=1, sticky='we', padx=(20, 10), pady=(5, 5))
self.menu_sub.set("--select--")
self.label_path.configure(text="*Path", text_color='red')
self.label_av.configure(text="*AV", text_color='red')
self.label_rr.configure(text="*RR", text_color='red')
self.label_axis.configure(text="*AXIS", text_color='red')
self.label_vel.configure(text="*Vel", text_color='red')
self.label_trq.configure(text="*Trq", text_color='red')
self.entry_path.configure(state="normal")
self.entry_av.configure(state="normal")
self.entry_rr.configure(state="normal")
self.option_axis.configure(state="normal")
self.option_vel.configure(state="normal")
self.option_trq.configure(state="normal")
elif func_name == 'current':
self.menu_sub = customtkinter.CTkOptionMenu(self.frame_param, values=["max", "avg"], font=self.my_font, command=self.func_sub_callback)
self.menu_sub.grid(row=1, column=1, sticky='we', padx=(20, 10), pady=(5, 5))
self.menu_sub.set("--select--")
self.label_path.configure(text="*Path", text_color='red')
self.label_rc.configure(text="*RC", text_color='red')
self.label_trq.configure(text="*Trq", text_color='red')
self.entry_path.configure(state="normal")
self.entry_rc.configure(state="normal")
self.option_trq.configure(state="normal")
else:
self.initialization()
self.menu_main.set("Start Here!")
def func_sub_callback(self, func_name):
if func_name == "industrial":
self.label_rpm.configure(text="*RPM", text_color='red')
self.entry_rpm.configure(state="normal")
elif func_name == "cobot":
self.label_rpm.configure(text="RPM", text_color='black')
self.entry_rpm.configure(state="disabled")
elif func_name == "max":
pass
elif func_name == 'avg':
pass
def write2textbox(self, text, exitcode=-1, wait=0):
if exitcode != -1:
self.textbox.configure(state="normal", text_color='red')
self.textbox.insert(index='end', text=text + '\n')
self.textbox.insert(index='end', text=f"Error code:{exitcode}，需要解决如上问题，再重新运行程序......")
self.textbox.update()
self.textbox.see('end')
self.textbox.configure(state="disabled")
raise Exception("Something wrong, check needed......")
elif wait != 0:
self.textbox.configure(state="normal")
self.textbox.insert(index='end', text=text)
self.textbox.update()
self.textbox.see('end')
self.textbox.configure(state="disabled")
else:
self.textbox.configure(state="normal", text_color='blue')
self.textbox.insert(index='end', text=text + '\n')
self.textbox.update()
self.textbox.see('end')
self.textbox.configure(state="disabled")
def check_param(self):
func_name = self.menu_main.get()
if func_name == 'brake':
path = self.entry_path.get().strip(' ')
av = self.entry_av.get().strip('- ')
rr = self.entry_rr.get().strip('- ')
axis = self.option_axis.get()
vel = self.option_vel.get()
trq = self.option_trq.get()
sub_func = self.menu_sub.get()
c1 = os.path.exists(path)
c2 = av.isdigit()
c3 = rr.isdigit()
c4 = rpm = 1
c5 = sub_func in ['industrial', 'cobot']
if self.menu_sub.get() == 'industrial':
rpm = self.entry_rpm.get().strip('- ')
c4 = rpm.isdigit()
elif self.menu_sub.get() == 'cobot':
pass
else:
pass
flag = 1 if c1 and c2 and c3 and c4 and c5 else 0
return flag, path, int(av), int(rr), int(rpm), int(axis), int(vel), int(trq)
elif func_name == 'current':
path = self.entry_path.get()
rc = self.entry_rc.get()
vel = self.option_vel.get()
trq = self.option_trq.get()
sub_func = self.menu_sub.get()
c1 = os.path.exists(path)
c2 = sub_func in ['max', 'avg']
try:
_ = float(rc)
c3 = True
except Exception as Err:
c3 = False
flag = 2 if c1 and c2 and c3 else 0
return flag, path, float(rc), int(vel), int(trq), sub_func
else:
return 0, 0
def func_start_callback(self):
self.textbox.configure(state='normal')
self.textbox.delete(index1='1.0', index2='end')
self.textbox.configure(state='disabled')
flag, *args = self.check_param()
func_dict = {1: brake.main, 2: current.main}
if flag == 1:
func_dict[flag](path=args[0], av=args[1], rr=args[2], rpm=args[3], axis=args[4], vel=args[5], trq=args[6], w2t=self.write2textbox)
elif flag == 2:
func_dict[flag](path=args[0], rc=args[1], sub_func= args[2])
else:
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
def func_check_callback(self):
flag, *args = self.check_param()
if flag:
tkinter.messagebox.showinfo(title="参数正确", message="所有参数形式上填写无误，请确定后开始运行！")
else:
tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
def func_log_callback(self):
content = self.textbox.get(index1='1.0', index2='end')
if len(content) > 1:
try:
now = time.strftime('%Y%m%d%H%M%S', time.localtime(time.time()))
log_name = f"{now}_aio.log"
with open(f'{log_name}', 'w', encoding='utf-8') as objlog:
objlog.write(content)
tkinter.messagebox.showinfo(title="保存成功", message=f'{log_name}已被保存存至↓↓↓\n{os.getcwd()}')
except Exception as Err:
print(Err)
tkinter.messagebox.showerror(title="保存失败", message="未能保存本次日志，或未能完整保存，请准备好相关数据，联系fanmingfu@rokae.com查看详细信息！", )
else:
tkinter.messagebox.showwarning(title="未能保存", message="日志数据为空，不可保存！")
def func_end_call_back(self):
if tkinter.messagebox.askyesno(title="关闭程序", message="相关数据可能未保存，正在运行程序时有概率会损坏数据文件，确定要终止程序运行吗？"):
self.destroy()
else:
pass
pass
if __name__ == "__main__":
aio = App()
aio.mainloop()

240
rokae/aio/brake.py
View File

@ -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])

BIN
rokae/aio/configs.xlsx
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8
rokae/aio/file_version_info.txt
View File

@ -6,8 +6,8 @@ VSVersionInfo(
ffi=FixedFileInfo(
# filevers and prodvers should be always a tuple with four items: (1, 2, 3, 4)
# Set not needed items to zero 0.
filevers=(0, 0, 6, 0),
prodvers=(0, 0, 6, 0),
filevers=(0, 1, 0, 0),
prodvers=(0, 1, 0, 0),
# Contains a bitmask that specifies the valid bits 'flags'r
mask=0x3f,
# Contains a bitmask that specifies the Boolean attributes of the file.
@ -31,12 +31,12 @@ VSVersionInfo(
'040904b0',
[StringStruct('CompanyName', 'Rokae - https://www.rokae.com/'),
StringStruct('FileDescription', 'All in one automatic operating tool'),
StringStruct('FileVersion', '0.0.6 (2024-05-20)'),
StringStruct('FileVersion', '0.1.0 (2024-05-24)'),
StringStruct('InternalName', 'AIO.exe'),
StringStruct('LegalCopyright', '© 2024-2024 Manford Fan'),
StringStruct('OriginalFilename', 'AIO.exe'),
StringStruct('ProductName', 'AIO'),
StringStruct('ProductVersion', '0.0.6 (2024-05-23)')])
StringStruct('ProductVersion', '0.1.0 (2024-05-29)')])
]),
VarFileInfo([VarStruct('Translation', [1033, 1200])])
]

BIN
rokae/aio/layout.xlsx Normal file
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32
rokae/aio/readme.txt
View File

@ -11,10 +11,13 @@
最好不用虚拟环境
pyinstaller.exe -F --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py -p .\current.py
https://customtkinter.tomschimansky.com/documentation/packaging
pyinstaller --noconfirm --onedir --windowed --add-data "C:/Users/Administrator/AppData/Local/Programs/Python/Python312/Lib/site-packages/customtkinter;customtkinter/" --version-file file_version_info.txt -i .\icon.ico .\aio.py -p .\brake.py
注意事项：
1. 数据文件存储存储规则
所谓数据文件，就是我们拍急停的时候，采集到的 .data 文件，正方向拍三次急停，会采集到三个 .data 文件，存储在同一个文件夹内，即每组（三个 .data 文件）文件必须存储在同一个文件夹内，数据文件的命名无要求，
2. 文件夹命名规则
虽然对采集到的 .data 文件没有命名要求，但是对于文件夹的命名是有要求的，必须是如下格式：
loadXX_speedXX_reachXX 或者 loadXX_reachXX_speedXX
@ -26,9 +29,9 @@
load33_自研_制动性能测试.xlsx
load66_自研_制动性能测试.xlsx
load100_自研_制动性能测试.xlsx
！！结果文件可以是没有数据的，也可以是之前有数据的，只要保证第 6 点中的那几个数据准确即可
4. 数据存储的组织结
..../j1/load100_speed33_reach100
..../j1/load100_speed66_reach100
@ -37,28 +40,28 @@
..../j1/load100_speed33_reach100/2024_05_16_09_18_52.data
..../j1/load100_speed33_reach100/2024_05_16_09_19_52.data
..../j1/load100_speed33_reach100/2024_05_16_09_20_52.data
..../j1/load33_自研_制动性能测试.xlsx
..../j1/load66_自研_制动性能测试.xlsx
..../j1/load100_自研_制动性能测试.xlsx
5. 文件的打开与关闭
a. 在执行程序之前，需要关闭所有相关 excle 文件
b. 在执行程序之中，不允许打开相关 excle 文件
c. 在执行程序之后，需要逐个打开结果文件，并保存一次
6. 参数一致性检查
执行程序前，需要确定 configs.xlsx 中设定的减速比/最大角速度/额定电流的值是正确的
7. 数据准确性检查
执行完程序之后，需要对结果文件的数据准确性做核对，通过我自己的数据观察，误差基本在10ms以内，也即10个数据点，误差较大的情况可自行调整
8. .data 数据顺序
.data 文件的第一列和第二列必须分别是速度和电流
9. 其他
程序运行主要的耗时集中在打开，保存和关闭结果文件，第一次打开的时候会比较慢，是因为 excel 在做首次公式的计算，保存关闭之后，再打开会比较快一些，另外，如果在运行出错并重复运行程序的时候无响应，或者出现异常，请打开任务管理器，关闭一切和excel相关的进程，重新运行即可
RELEASE CHANGES
@ -107,7 +110,8 @@ v0.0.6(2024/05/23)
1. 为了调整多功能框架，aio.py文件将会作为入口程序存在，不实现具体功能，功能的实现将由具体的功能脚本实现，aio.py只负责条件调用
2. 新增了自动化处理电流数据（电机/过载）的功能
v0.0.7(2024/05/27)
1. 该版本制动数据处理变动较大，重写了find_row_start & copy_data_to_result，删除了delete_excel_files
2. 主要是修改了数据处理的方式，直接使用pandas进行数据处理，跳过了openpyxl来回变换，节省了大量的IO以及时间
v0.1.0(2024/05/29)
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
4. 电流尚未支持