from base_optimizer.optimizer_common import * # 绘制各周期从供料器周期拾取的元件位置 def pickup_cycle_schematic(feeder_slot_result, cycle_result): plt.rcParams['font.sans-serif'] = ['KaiTi'] # 指定默认字体 plt.rcParams['axes.unicode_minus'] = False # 解决保存图像是负号'-'显示为方块的问题 # data bar_width = .7 feeder_part = np.zeros(int(max_slot_index / 2), dtype=np.int) for cycle in range(len(feeder_slot_result)): label_str = '周期' + str(cycle + 1) cur_feeder_part = np.zeros(int(max_slot_index / 2), dtype=np.int) for slot in feeder_slot_result[cycle]: if slot > 0: cur_feeder_part[slot] += cycle_result[cycle] plt.bar(np.arange(max_slot_index / 2), cur_feeder_part, bar_width, edgecolor='black', bottom=feeder_part, label=label_str) for slot in feeder_slot_result[cycle]: if slot > 0: feeder_part[slot] += cycle_result[cycle] plt.legend() plt.show() def placement_route_schematic(pcb_data, component_result, cycle_result, feeder_slot_result, placement_result, head_sequence, cycle=-1): plt.figure('cycle {}'.format(cycle + 1)) pos_x, pos_y = [], [] for i in range(len(pcb_data)): pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0]) pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1]) # plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8) mount_pos = [] for head in head_sequence[cycle]: index = placement_result[cycle][head] plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va='bottom', size=10) plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]], linestyle='-.', color='black', linewidth=1) mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]]) plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white') # plt.text(mount_pos[-1][0], mount_pos[-1][1], '%d' % index, size=8) # 绘制贴装路径 for i in range(len(mount_pos) - 1): plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue', linewidth=1) draw_x, draw_y = [], [] for c in range(cycle, len(placement_result)): for h in range(max_head_index): i = placement_result[c][h] if i == -1: continue draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0]) draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1]) # plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10) plt.scatter(draw_x, draw_y, s=8) # 绘制供料器位置布局 for slot in range(max_slot_index // 2): plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker='x', s=12, color='green') plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha='center', va='bottom', size=8) feeder_part, feeder_counter = {}, {} placement_cycle = 0 for cycle_, components in enumerate(component_result): for head, component in enumerate(components): if component == -1: continue placement = placement_result[placement_cycle][head] slot = feeder_slot_result[cycle_][head] feeder_part[slot] = pcb_data.loc[placement]['part'] if slot not in feeder_counter.keys(): feeder_counter[slot] = 0 feeder_counter[slot] += cycle_result[cycle_] placement_cycle += cycle_result[cycle_] for slot, part in feeder_part.items(): plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15, part + ': ' + str(feeder_counter[slot]), ha='center', size=7, rotation=90) plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)], [slotf1_pos[1] + 10, slotf1_pos[1] + 10], color = 'black') plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)], [slotf1_pos[1] - 40, slotf1_pos[1] - 40], color = 'black') for counter in range(max_slot_index // 2 + 1): pos = slotf1_pos[0] + (counter - 0.5) * slot_interval plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth=1) # 绘制拾取路径 pick_slot = [] cycle_group = 0 while sum(cycle_result[0: cycle_group + 1]) < cycle: cycle_group += 1 for head, slot in enumerate(feeder_slot_result[cycle_group]): if slot == -1: continue pick_slot.append(slot - head * interval_ratio) pick_slot = list(set(pick_slot)) pick_slot = sorted(pick_slot) next_cycle_group = 0 next_pick_slot = max_slot_index while sum(cycle_result[0: next_cycle_group + 1]) < cycle + 1: next_cycle_group += 1 if next_cycle_group < len(feeder_slot_result): for head, slot in enumerate(feeder_slot_result[cycle_group]): if slot == -1: continue next_pick_slot = min(next_pick_slot, slot - head * interval_ratio) # 前往PCB贴装 plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [mount_pos[-1][1], slotf1_pos[1]], color='blue', linewidth=1) # 基座移动路径 plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1), slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [slotf1_pos[1], slotf1_pos[1]], color='blue', linewidth=1) # 返回基座取料 plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (next_pick_slot - 1)], [mount_pos[0][1], slotf1_pos[1]], color='blue', linewidth=1) plt.show() def save_placement_route_figure(file_name, pcb_data, component_result, cycle_result, feeder_slot_result, placement_result, head_sequence): path = 'result/' + file_name[:file_name.find('.')] if not os.path.exists(path): os.mkdir(path) pos_x, pos_y = [], [] for i in range(len(pcb_data)): pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0]) pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1]) # plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8) with tqdm(total=100) as pbar: pbar.set_description('save figure') for cycle in range(len(placement_result)): plt.figure(cycle) mount_pos = [] for head in head_sequence[cycle]: index = placement_result[cycle][head] plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va='bottom', size=10) plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]], linestyle='-.', color='black', linewidth=1) mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]]) plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white') # 绘制贴装路径 for i in range(len(mount_pos) - 1): plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue', linewidth=1) draw_x, draw_y = [], [] for c in range(cycle, len(placement_result)): for h in range(max_head_index): i = placement_result[c][h] if i == -1: continue draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0]) draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1]) # plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10) plt.scatter(pos_x, pos_y, s=8) # 绘制供料器位置布局 for slot in range(max_slot_index // 2): plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker='x', s=12, color='green') plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha='center', va='bottom', size=8) feeder_part, feeder_counter = {}, {} placement_cycle = 0 for cycle_, components in enumerate(component_result): for head, component in enumerate(components): if component == -1: continue placement = placement_result[placement_cycle][head] slot = feeder_slot_result[cycle_][head] feeder_part[slot] = pcb_data.loc[placement]['part'] if slot not in feeder_counter.keys(): feeder_counter[slot] = 0 feeder_counter[slot] += cycle_result[cycle_] placement_cycle += cycle_result[cycle_] for slot, part in feeder_part.items(): plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15, part + ': ' + str(feeder_counter[slot]), ha='center', size=7, rotation=90) plt.plot( [slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)], [slotf1_pos[1] + 10, slotf1_pos[1] + 10], color='black') plt.plot( [slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)], [slotf1_pos[1] - 40, slotf1_pos[1] - 40], color='black') for counter in range(max_slot_index // 2 + 1): pos = slotf1_pos[0] + (counter - 0.5) * slot_interval plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth=1) # 绘制拾取路径 pick_slot = [] cycle_group = 0 while sum(cycle_result[0: cycle_group + 1]) < cycle: cycle_group += 1 for head, slot in enumerate(feeder_slot_result[cycle_group]): if slot == -1: continue pick_slot.append(slot - head * interval_ratio) pick_slot = list(set(pick_slot)) pick_slot = sorted(pick_slot) plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (pick_slot[0] - 1)], [mount_pos[0][1], slotf1_pos[1]], color='blue', linewidth=1) plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [mount_pos[-1][1], slotf1_pos[1]], color='blue', linewidth=1) plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1), slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [slotf1_pos[1], slotf1_pos[1]], color='blue', linewidth=1) plt.savefig(path + '/cycle_{}'.format(cycle + 1)) plt.close(cycle) pbar.update(100 / len(placement_result)) def output_optimize_result(file_name, method, component_data, pcb_data, feeder_data, component_result, cycle_result, feeder_slot_result, placement_result, head_sequence): assert len(component_result) == len(feeder_slot_result) if feeder_data is None: warning_info = 'file: ' + file_name + ' optimize result is not existed!' warnings.warn(warning_info, UserWarning) return output_data = pcb_data.copy(deep=True) # 默认ANC参数 anc_list = defaultdict(list) anc_list['CN065'] = list(range(14, 25, 2)) anc_list['CN220'] = list(range(15, 26, 2)) anc_list['CN140'] = list(range(26, 37, 2)) anc_list['CN400'] = list(range(27, 38, 2)) # 更新供料器组参数 for cycle_set in range(len(cycle_result)): for head, component in enumerate(component_result[cycle_set]): if component == -1: continue if feeder_data[feeder_data['slot'] == feeder_slot_result[cycle_set][head]].index.empty: part = component_data.loc[component]['part'] feeder_data.loc[len(feeder_data.index)] = [feeder_slot_result[cycle_set][head], part, 0] feeder_data.sort_values('slot', inplace=True, ascending=True, ignore_index=True) placement_index = [] assigned_nozzle, assigned_anc_hole = ['' for _ in range(max_head_index)], [-1 for _ in range(max_head_index)] for cycle_set in range(len(cycle_result)): floor_cycle, ceil_cycle = sum(cycle_result[:cycle_set]), sum(cycle_result[:(cycle_set + 1)]) for cycle in range(floor_cycle, ceil_cycle): cycle_start = True cycle_nozzle = ['' for _ in range(max_head_index)] head_indexes = [-1 for _ in range(max_head_index)] for head in head_sequence[cycle]: index_ = placement_result[cycle][head] if index_ == -1: continue head_indexes[head] = index_ placement_index.append(index_) output_data.loc[index_, 'cs'] = 1 if cycle_start else 0 output_data.loc[index_, 'cy'] = cycle + 1 output_data.loc[index_, 'hd'] = head + 1 cycle_start = False # 供料器信息 slot = feeder_slot_result[cycle_set][head] fdr = 'F' + str(slot) if slot < max_slot_index // 2 else 'R' + str(slot - max_slot_index // 2) feeder_index = feeder_data[feeder_data['slot'] == slot].index.tolist()[0] output_data.loc[index_, 'fdr'] = fdr + ' ' + feeder_data.loc[feeder_index, 'part'] # ANC信息 cycle_nozzle[head] = component_data.loc[component_result[cycle_set][head], 'nz'] for head in range(max_head_index): nozzle = cycle_nozzle[head] if nozzle == '': continue if nozzle != assigned_nozzle[head]: # 已分配有吸嘴，卸载原吸嘴 if assigned_nozzle[head] != '': anc_list[assigned_nozzle[head]].append(assigned_anc_hole[head]) anc_list[assigned_nozzle[head]] = sorted(anc_list[assigned_nozzle[head]]) # 安装新的吸嘴 assigned_nozzle[head] = nozzle try: assigned_anc_hole[head] = anc_list[nozzle][0] except IndexError: info = 'the number of nozzle for [' + nozzle + '] exceeds the quantity limit' raise IndexError(info) anc_list[nozzle].pop(0) output_data.loc[head_indexes[head], 'nz'] = '1-' + str(assigned_anc_hole[head]) + ' ' + nozzle output_data = output_data.reindex(placement_index) output_data = output_data.reset_index(drop=True) if 'desc' not in output_data.columns: column_index = int(np.where(output_data.columns.values.reshape(-1) == 'part')[0][0]) output_data.insert(loc=column_index + 1, column='desc', value='') if not os.path.exists('result/' + method): os.makedirs('result/' + method) file_name = method + '/' + file_name.split('.')[0] + '.xlsx' output_data.to_excel('result/' + file_name, sheet_name='tb1', float_format='%.3f', na_rep='') def component_assign_evaluate(component_data, component_result, cycle_result, feeder_slot_result) -> float: nozzle_change_counter = 0 for head in range(max_head_index): nozzle = '' for cycle in range(len(component_result)): component_index = component_result[cycle][head] if component_index == -1: continue if cycle != 0 and nozzle != component_data.loc[component_index, 'nz']: nozzle_change_counter += 1 nozzle = component_data.loc[component_index, 'nz'] gang_pick_counter = 0 for cycle, feeder_slot in enumerate(feeder_slot_result): pick_slot = defaultdict(int) for head, slot in enumerate(feeder_slot): if slot == -1: continue pick_slot[slot - head * interval_ratio] += 1 for _ in pick_slot.values(): gang_pick_counter += cycle_result[cycle] return sum(cycle_result) + e_nz_change * nozzle_change_counter + e_gang_pick * gang_pick_counter def optimization_assign_result(component_data, pcb_data, component_result, cycle_result, feeder_slot_result, nozzle_hinter=False, component_hinter=False, feeder_hinter=False): if nozzle_hinter: columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle'] nozzle_assign = pd.DataFrame(columns=columns) for cycle, components in enumerate(component_result): nozzle_assign.loc[cycle, 'cycle'] = cycle_result[cycle] for head in range(max_head_index): index = component_result[cycle][head] if index == -1: nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = '' else: nozzle = component_data.loc[index]['nz'] nozzle_assign.loc[cycle, 'H{}'.format(head + 1)] = nozzle print(nozzle_assign) print('') if component_hinter: columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle'] component_assign = pd.DataFrame(columns=columns) for cycle, components in enumerate(component_result): component_assign.loc[cycle, 'cycle'] = cycle_result[cycle] for head in range(max_head_index): index = component_result[cycle][head] if index == -1: component_assign.loc[cycle, 'H{}'.format(head + 1)] = '' else: part = component_data.loc[index]['part'] component_assign.loc[cycle, 'H{}'.format(head + 1)] = part print(component_assign) print('') if feeder_hinter: columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle'] feedr_assign = pd.DataFrame(columns=columns) for cycle, components in enumerate(feeder_slot_result): feedr_assign.loc[cycle, 'cycle'] = cycle_result[cycle] for head in range(max_head_index): slot = feeder_slot_result[cycle][head] if slot == -1: feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'A' else: feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'F{}'.format( slot) if slot <= max_slot_index // 2 else 'R{}'.format(slot - max_head_index) print(feedr_assign) print('') def placement_time_estimate(component_data, pcb_data, component_result, cycle_result, feeder_slot_result, placement_result, head_sequence, hinter=True) -> float: # === 校验 === total_points = 0 for cycle, components in enumerate(component_result): for head, component in enumerate(components): if component == -1: continue total_points += cycle_result[cycle] if total_points != len(pcb_data): warning_info = 'the number of placement points is not match with the PCB data. ' warnings.warn(warning_info, UserWarning) return 0. for placements in placement_result: for placement in placements: if placement == -1: continue total_points -= 1 if total_points != 0: warnings.warn( 'the optimization result of component assignment result and placement result are not consistent. ', UserWarning) return 0. feeder_arrangement = defaultdict(set) for cycle, feeder_slots in enumerate(feeder_slot_result): for head, slot in enumerate(feeder_slots): if slot == -1: continue feeder_arrangement[component_result[cycle][head]].add(slot) for part, data in component_data.iterrows(): if part in feeder_arrangement.keys() and data['feeder-limit'] < len(feeder_arrangement[part]): info = 'the number of arranged feeder of [' + data['part'] + '] exceeds the quantity limit' warnings.warn(info, UserWarning) return 0. t_pick, t_place = .078, .051 # 贴装/拾取用时 t_nozzle_put, t_nozzle_pick = 0.9, 0.75 # 装卸吸嘴用时 t_fix_camera_check = 0.12 # 固定相机检测时间 total_moving_time = .0 # 总移动用时 total_operation_time = .0 # 操作用时 total_nozzle_change_counter = 0 # 总吸嘴更换次数 total_pick_counter = 0 # 总拾取次数 total_mount_distance, total_pick_distance = .0, .0 # 贴装距离、拾取距离 total_distance = 0 # 总移动距离 cur_pos, next_pos = anc_marker_pos, [0, 0] # 贴装头当前位置 # 初始化首个周期的吸嘴装配信息 nozzle_assigned = ['Empty' for _ in range(max_head_index)] for head in range(max_head_index): for cycle in range(len(component_result)): idx = component_result[cycle][head] if idx == -1: continue else: nozzle_assigned[head] = component_data.loc[idx]['nz'] break for cycle_set, _ in enumerate(component_result): floor_cycle, ceil_cycle = sum(cycle_result[:cycle_set]), sum(cycle_result[:(cycle_set + 1)]) for cycle in range(floor_cycle, ceil_cycle): pick_slot, mount_pos, mount_angle = [], [], [] nozzle_pick_counter, nozzle_put_counter = 0, 0 # 吸嘴更换次数统计（拾取/放置分别算一次） for head in range(max_head_index): if feeder_slot_result[cycle_set][head] != -1: pick_slot.append(feeder_slot_result[cycle_set][head] - interval_ratio * head) if component_result[cycle_set][head] == -1: continue nozzle = component_data.loc[component_result[cycle_set][head]]['nz'] if nozzle != nozzle_assigned[head]: if nozzle_assigned[head] != 'Empty': nozzle_put_counter += 1 nozzle_pick_counter += 1 nozzle_assigned[head] = nozzle # ANC处进行吸嘴更换 if nozzle_pick_counter + nozzle_put_counter > 0: next_pos = anc_marker_pos total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0), axis_moving_time(cur_pos[1] - next_pos[1], 1)) total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1])) cur_pos = next_pos pick_slot = list(set(pick_slot)) pick_slot = sorted(pick_slot, reverse=True) # 拾取路径(自右向左) for slot in pick_slot: if slot < max_slot_index // 2: next_pos = [slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1]] else: next_pos = [slotr1_pos[0] - slot_interval * (max_slot_index - slot - 1), slotr1_pos[1]] total_operation_time += t_pick total_pick_counter += 1 total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0), axis_moving_time(cur_pos[1] - next_pos[1], 1)) total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1])) if slot != pick_slot[0]: total_pick_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1])) cur_pos = next_pos # 固定相机检测 for head in range(max_head_index): if component_result[cycle_set][head] == -1: continue camera = component_data.loc[component_result[cycle_set][head]]['camera'] if camera == '固定相机': next_pos = [fix_camera_pos[0] - head * head_interval, fix_camera_pos[1]] total_moving_time += max(axis_moving_time(cur_pos[0] - next_pos[0], 0), axis_moving_time(cur_pos[1] - next_pos[1], 1)) total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1])) total_operation_time += t_fix_camera_check cur_pos = next_pos # 贴装路径 for head in head_sequence[cycle]: index = placement_result[cycle][head] if index == -1: continue mount_pos.append([pcb_data.loc[index]['x'] - head * head_interval + stopper_pos[0], pcb_data.loc[index]['y'] + stopper_pos[1]]) mount_angle.append(pcb_data.loc[index]['r']) # 单独计算贴装路径 for cntPoints in range(len(mount_pos) - 1): total_mount_distance += max(abs(mount_pos[cntPoints][0] - mount_pos[cntPoints + 1][0]), abs(mount_pos[cntPoints][1] - mount_pos[cntPoints + 1][1])) # 考虑R轴预旋转，补偿同轴角度转动带来的额外贴装用时 total_operation_time += head_rotary_time(mount_angle[0]) # 补偿角度转动带来的额外贴装用时 total_operation_time += t_nozzle_put * nozzle_put_counter + t_nozzle_pick * nozzle_pick_counter for pos in mount_pos: total_operation_time += t_place total_moving_time += max(axis_moving_time(cur_pos[0] - pos[0], 0), axis_moving_time(cur_pos[1] - pos[1], 1)) total_distance += max(abs(cur_pos[0] - pos[0]), abs(cur_pos[1] - pos[1])) cur_pos = pos total_nozzle_change_counter += nozzle_put_counter + nozzle_pick_counter total_time = total_moving_time + total_operation_time minutes, seconds = int(total_time // 60), int(total_time) % 60 millisecond = int((total_time - minutes * 60 - seconds) * 60) if hinter: optimization_assign_result(component_data, pcb_data, component_result, cycle_result, feeder_slot_result, nozzle_hinter=True, component_hinter=True, feeder_hinter=True) print('-Cycle counter: {}'.format(sum(cycle_result))) print('-Nozzle change counter: {}'.format(total_nozzle_change_counter // 2)) print('-Pick operation counter: {}'.format(total_pick_counter)) print('-Expected mounting tour length: {} mm'.format(total_mount_distance)) print('-Expected picking tour length: {} mm'.format(total_pick_distance)) print('-Expected total tour length: {} mm'.format(total_distance)) print('-Expected total moving time: {} s'.format(total_moving_time)) print('-Expected total operation time: {} s'.format(total_operation_time)) if minutes > 0: print('-Mounting time estimation: {:d} min {} s {:2d} ms ({:.3f}s)'.format(minutes, seconds, millisecond, total_time)) else: print('-Mounting time estimation: {} s {:2d} ms ({:.3f}s)'.format(seconds, millisecond, total_time)) return total_time