文章复现： guo_integrated_2012

optimizer_common.py

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+import copy
+import time
+import math
+import argparse
+
+import warnings
+import pandas as pd
+import numpy as np
+import matplotlib.pyplot as plt
+
+from functools import wraps
+from collections import defaultdict
+from typing import List, Counter
+from tqdm import tqdm
+
+# 机器参数
+max_head_index, max_slot_index = 6, 120     # 暂时默认所有机器参数相同
+max_machine_index = 3
+interval_ratio = 2
+slot_interval = 15
+head_interval = slot_interval * interval_ratio
+head_nozzle = ['' for _ in range(max_head_index)]  # 头上已经分配吸嘴
+
+# 位置信息
+slotf1_pos, slotr1_pos = [-31.267, 44.], [807., 810.545]  # F1(前基座最左侧)、R1(后基座最右侧)位置
+fix_camera_pos = [269.531, 694.823]  # 固定相机位置
+anc_marker_pos = [336.457, 626.230]  # ANC基准点位置
+stopper_pos = [635.150, 124.738]  # 止档块位置
+
+# 时间参数
+T_pp, T_tr, T_nc = 2, 5, 25
+
+# 电机参数
+head_rotary_velocity = 8e-5  # 贴装头R轴旋转时间
+x_max_velocity, y_max_velocity = 1.4, 1.2
+x_max_acceleration, y_max_acceleration = x_max_velocity / 0.079, y_max_velocity / 0.079
+
+# 不同种类供料器宽度
+feeder_width = {'SM8': (7.25, 7.25), 'SM12': (7.00, 20.00), 'SM16': (7.00, 22.00),
+                'SM24': (7.00, 29.00), 'SM32': (7.00, 44.00)}
+
+# 可用吸嘴数量限制
+nozzle_limit = {'CN065': 6, 'CN040': 6, 'CN220': 6, 'CN400': 6, 'CN140': 6}
+
+
+def axis_moving_time(distance, axis=0):
+    distance = abs(distance) * 1e-3
+    Lamax = x_max_velocity ** 2 / x_max_acceleration if axis == 0 else y_max_velocity ** 2 / y_max_acceleration
+    Tmax = x_max_velocity / x_max_acceleration if axis == 0 else y_max_velocity / y_max_acceleration
+    if axis == 0:
+        return 2 * math.sqrt(distance / x_max_acceleration) if distance < Lamax else 2 * Tmax + (
+                    distance - Lamax) / x_max_velocity
+    else:
+        return 2 * math.sqrt(distance / y_max_acceleration) if distance < Lamax else 2 * Tmax + (
+                    distance - Lamax) / y_max_velocity
+
+
+def head_rotary_time(angle):
+    while -180 > angle > 180:
+        if angle > 180:
+            angle -= 360
+        else:
+            angle += 360
+    return abs(angle) * head_rotary_velocity
+
+
+def timer_wrapper(func):
+    @wraps(func)
+    def measure_time(*args, **kwargs):
+        start_time = time.time()
+        result = func(*args, **kwargs)
+
+        print("function {} running time :  {} s".format(func.__name__, time.time() - start_time))
+        return result
+
+    return measure_time
+
+