600 lines
28 KiB
Python
600 lines
28 KiB
Python
from base_optimizer.optimizer_common import *
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def convert_pcbdata_to_result(pcb_data, component_data):
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opt_res = OptResult()
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assigned_part = [-1 for _ in range(max_head_index)]
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assigned_slot = [-1 for _ in range(max_head_index)]
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assigned_point = [-1 for _ in range(max_head_index)]
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assigned_sequence = []
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point_num = len(pcb_data) # total mount points num
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for point_cnt in range(point_num + 1):
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cycle_start = 1 if point_cnt == point_num else pcb_data.loc[point_cnt, 'cs']
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if (cycle_start and point_cnt != 0) or -1 not in assigned_part:
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if len(opt_res.component_assign) != 0 and opt_res.component_assign[-1] == assigned_part:
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opt_res.cycle_assign[-1] += 1
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else:
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opt_res.component_assign.append(assigned_part)
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opt_res.feeder_slot_assign.append(assigned_slot)
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opt_res.cycle_assign.append(1)
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# assigned_sequence = list(reversed(assigned_sequence)) # Samsung拾取顺序相反
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opt_res.placement_assign.append(assigned_point)
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opt_res.head_sequence.append(assigned_sequence)
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assigned_part = [-1 for _ in range(max_head_index)]
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assigned_slot = [-1 for _ in range(max_head_index)]
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assigned_point = [-1 for _ in range(max_head_index)]
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assigned_sequence = []
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if point_cnt == point_num:
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break
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slot = pcb_data.loc[point_cnt, 'fdr'].split(' ')[0]
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if slot == 'A':
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slot, part = 0, pcb_data.loc[point_cnt].part
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else:
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slot, part = int(slot[1:]), pcb_data.loc[point_cnt].fdr.split(' ', 1)[1]
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head = pcb_data.loc[point_cnt].hd - 1
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part_index = component_data[component_data.part == part].index.tolist()[0]
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assigned_part[head] = part_index
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assigned_slot[head] = slot
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assigned_point[head] = point_cnt
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assigned_sequence.append(head)
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return opt_res
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# 绘制各周期从供料器周期拾取的元件位置
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def pickup_cycle_schematic(optimizer_result):
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plt.rcParams['font.sans-serif'] = ['KaiTi'] # 指定默认字体
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plt.rcParams['axes.unicode_minus'] = False # 解决保存图像是负号'-'显示为方块的问题
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# data
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bar_width = .7
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feeder_part = np.zeros(int(max_slot_index / 2), dtype=np.int)
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for cycle in range(len(optimizer_result.feeder_slot_assign)):
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label_str = '周期' + str(cycle + 1)
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cur_feeder_part = np.zeros(int(max_slot_index / 2), dtype=np.int)
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for slot in optimizer_result.feeder_slot_assign[cycle]:
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if slot > 0:
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cur_feeder_part[slot] += optimizer_result.cycle_assign[cycle]
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plt.bar(np.arange(max_slot_index / 2), cur_feeder_part, bar_width, edgecolor='black', bottom=feeder_part,
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label=label_str)
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for slot in optimizer_result.feeder_slot_assign[cycle]:
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if slot > 0:
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feeder_part[slot] += optimizer_result.cycle_assign[cycle]
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plt.legend()
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plt.show()
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def placement_route_schematic(pcb_data, optimizer_result, cycle=-1):
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plt.figure('cycle {}'.format(cycle + 1))
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pos_x, pos_y = [], []
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for i in range(len(pcb_data)):
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pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8)
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mount_pos = []
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for head in optimizer_result.head_sequence[cycle]:
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index = optimizer_result.placement_assign[cycle][head]
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plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va='bottom', size=10)
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plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]], linestyle='-.',
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color='black', linewidth=1)
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mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]])
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plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white')
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# plt.text(mount_pos[-1][0], mount_pos[-1][1], '%d' % index, size=8)
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# 绘制贴装路径
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for i in range(len(mount_pos) - 1):
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plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue',
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linewidth=1)
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draw_x, draw_y = [], []
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for c in range(cycle, len(optimizer_result.placement_assign)):
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for h in range(max_head_index):
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i = optimizer_result.placement_assign[c][h]
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if i == -1:
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continue
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draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10)
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plt.scatter(draw_x, draw_y, s=8)
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# 绘制供料器位置布局
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for slot in range(max_slot_index // 2):
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plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker='x', s=12, color='green')
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plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha='center', va='bottom', size=8)
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feeder_part, feeder_counter = {}, {}
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placement_cycle = 0
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for cycle_, components in enumerate(optimizer_result.component_assign):
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for head, component in enumerate(components):
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if component == -1:
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continue
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placement = optimizer_result.placement_assign[placement_cycle][head]
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slot = optimizer_result.feeder_slot_assign[cycle_][head]
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feeder_part[slot] = pcb_data.loc[placement]['part']
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if slot not in feeder_counter.keys():
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feeder_counter[slot] = 0
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feeder_counter[slot] += optimizer_result.cycle_assign[cycle_]
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placement_cycle += optimizer_result.cycle_assign[cycle_]
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for slot, part in feeder_part.items():
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plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15,
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part + ': ' + str(feeder_counter[slot]), ha='center', size=7, rotation=90)
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] + 10, slotf1_pos[1] + 10], color = 'black')
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plt.plot([slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] - 40, slotf1_pos[1] - 40], color = 'black')
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for counter in range(max_slot_index // 2 + 1):
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pos = slotf1_pos[0] + (counter - 0.5) * slot_interval
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plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth=1)
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# 绘制拾取路径
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pick_slot = []
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cycle_group = 0
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while sum(optimizer_result.cycle_assign[0: cycle_group + 1]) < cycle:
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cycle_group += 1
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for head, slot in enumerate(optimizer_result.feeder_slot_assign[cycle_group]):
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if slot == -1:
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continue
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pick_slot.append(slot - head * interval_ratio)
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pick_slot = list(set(pick_slot))
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pick_slot = sorted(pick_slot)
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next_cycle_group = 0
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next_pick_slot = max_slot_index
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while sum(optimizer_result.cycle_assign[0: next_cycle_group + 1]) < cycle + 1:
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next_cycle_group += 1
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if next_cycle_group < len(optimizer_result.feeder_slot_assign):
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for head, slot in enumerate(optimizer_result.feeder_slot_assign[cycle_group]):
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if slot == -1:
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continue
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next_pick_slot = min(next_pick_slot, slot - head * interval_ratio)
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# 前往PCB贴装
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plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [mount_pos[-1][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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# 基座移动路径
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plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1), slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)],
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[slotf1_pos[1], slotf1_pos[1]], color='blue', linewidth=1)
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# 返回基座取料
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plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (next_pick_slot - 1)], [mount_pos[0][1], slotf1_pos[1]],
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color='blue', linewidth=1)
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plt.show()
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def save_placement_route_figure(file_name, pcb_data, optimizer_result):
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path = 'result/' + file_name[:file_name.find('.')]
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if not os.path.exists(path):
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os.mkdir(path)
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pos_x, pos_y = [], []
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for i in range(len(pcb_data)):
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pos_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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pos_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(pcb_data.loc[i]['x'], pcb_data.loc[i]['y'] + 0.1, '%d' % i, ha='center', va = 'bottom', size = 8)
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with tqdm(total=100) as pbar:
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pbar.set_description('save figure')
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for cycle in range(len(optimizer_result.placement_assign)):
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plt.figure(cycle)
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mount_pos = []
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for head in optimizer_result.head_sequence[cycle]:
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index = optimizer_result.placement_assign[cycle][head]
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plt.text(pos_x[index], pos_y[index] + 0.1, 'HD%d' % (head + 1), ha='center', va='bottom', size=10)
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plt.plot([pos_x[index], pos_x[index] - head * head_interval], [pos_y[index], pos_y[index]],
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linestyle='-.', color='black', linewidth=1)
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mount_pos.append([pos_x[index] - head * head_interval, pos_y[index]])
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plt.plot(mount_pos[-1][0], mount_pos[-1][1], marker='^', color='red', markerfacecolor='white')
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# 绘制贴装路径
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for i in range(len(mount_pos) - 1):
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plt.plot([mount_pos[i][0], mount_pos[i + 1][0]], [mount_pos[i][1], mount_pos[i + 1][1]], color='blue',
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linewidth=1)
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draw_x, draw_y = [], []
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for c in range(cycle, len(optimizer_result.placement_assign)):
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for h in range(max_head_index):
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i = optimizer_result.placement_assign[c][h]
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if i == -1:
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continue
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draw_x.append(pcb_data.loc[i]['x'] + stopper_pos[0])
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draw_y.append(pcb_data.loc[i]['y'] + stopper_pos[1])
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# plt.text(draw_x[-1], draw_y[-1] - 5, '%d' % i, ha='center', va='bottom', size=10)
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plt.scatter(pos_x, pos_y, s=8)
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# 绘制供料器位置布局
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for slot in range(max_slot_index // 2):
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plt.scatter(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1], marker='x', s=12, color='green')
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plt.text(slotf1_pos[0] + slot_interval * slot, slotf1_pos[1] - 50, slot + 1, ha='center', va='bottom', size=8)
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feeder_part, feeder_counter = {}, {}
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placement_cycle = 0
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for cycle_, components in enumerate(optimizer_result.component_assign):
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for head, component in enumerate(components):
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if component == -1:
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continue
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placement = optimizer_result.placement_assign[placement_cycle][head]
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slot = optimizer_result.feeder_slot_assign[cycle_][head]
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feeder_part[slot] = pcb_data.loc[placement]['part']
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if slot not in feeder_counter.keys():
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feeder_counter[slot] = 0
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feeder_counter[slot] += optimizer_result.cycle_assign[cycle_]
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placement_cycle += optimizer_result.cycle_assign[cycle_]
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for slot, part in feeder_part.items():
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plt.text(slotf1_pos[0] + slot_interval * (slot - 1), slotf1_pos[1] + 15,
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part + ': ' + str(feeder_counter[slot]), ha='center', size=7, rotation=90)
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plt.plot(
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[slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] + 10, slotf1_pos[1] + 10], color='black')
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plt.plot(
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[slotf1_pos[0] - slot_interval / 2, slotf1_pos[0] + slot_interval * (max_slot_index // 2 - 1 + 0.5)],
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[slotf1_pos[1] - 40, slotf1_pos[1] - 40], color='black')
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for counter in range(max_slot_index // 2 + 1):
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pos = slotf1_pos[0] + (counter - 0.5) * slot_interval
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plt.plot([pos, pos], [slotf1_pos[1] + 10, slotf1_pos[1] - 40], color='black', linewidth=1)
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# 绘制拾取路径
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pick_slot = []
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cycle_group = 0
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while sum(optimizer_result.cycle_assign[0: cycle_group + 1]) < cycle:
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cycle_group += 1
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for head, slot in enumerate(optimizer_result.feeder_slot_assign[cycle_group]):
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if slot == -1:
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continue
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pick_slot.append(slot - head * interval_ratio)
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pick_slot = list(set(pick_slot))
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pick_slot = sorted(pick_slot)
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plt.plot([mount_pos[0][0], slotf1_pos[0] + slot_interval * (pick_slot[0] - 1)],
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[mount_pos[0][1], slotf1_pos[1]], color='blue', linewidth=1)
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plt.plot([mount_pos[-1][0], slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)],
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[mount_pos[-1][1], slotf1_pos[1]], color='blue', linewidth=1)
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plt.plot([slotf1_pos[0] + slot_interval * (pick_slot[0] - 1),
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slotf1_pos[0] + slot_interval * (pick_slot[-1] - 1)], [slotf1_pos[1], slotf1_pos[1]],
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color='blue', linewidth=1)
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plt.savefig(path + '/cycle_{}'.format(cycle + 1))
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plt.close(cycle)
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pbar.update(100 / len(optimizer_result.placement_assign))
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def output_optimize_result(file_path, component_data, pcb_data, optimizer_result):
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assert len(optimizer_result.component_assign) == len(optimizer_result.feeder_slot_assign)
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output_data = pcb_data.copy(deep=True)
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# 默认ANC参数
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anc_list = defaultdict(list)
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anc_list['CN065'] = list(range(14, 25, 2))
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anc_list['CN020'] = list(range(15, 26, 2))
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anc_list['CN140'] = list(range(26, 37, 2))
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anc_list['CN040'] = list(range(27, 38, 2))
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placement_index = []
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assigned_nozzle, assigned_anc_hole = ['' for _ in range(max_head_index)], [-1 for _ in range(max_head_index)]
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for cycle_set in range(len(optimizer_result.cycle_assign)):
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floor_cycle, ceil_cycle = sum(optimizer_result.cycle_assign[:cycle_set]), sum(optimizer_result.cycle_assign[:(cycle_set + 1)])
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for cycle in range(floor_cycle, ceil_cycle):
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cycle_start = True
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cycle_nozzle = ['' for _ in range(max_head_index)]
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head_indexes = [-1 for _ in range(max_head_index)]
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for head in optimizer_result.head_sequence[cycle]:
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index_ = optimizer_result.placement_assign[cycle][head]
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if index_ == -1:
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continue
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head_indexes[head] = index_
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placement_index.append(index_)
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output_data.loc[index_, 'cs'] = 1 if cycle_start else 0
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output_data.loc[index_, 'cy'] = cycle + 1
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output_data.loc[index_, 'hd'] = head + 1
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cycle_start = False
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# 供料器信息
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slot = optimizer_result.feeder_slot_assign[cycle_set][head]
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fdr = 'F' + str(slot) if slot < max_slot_index // 2 else 'R' + str(slot - max_slot_index // 2)
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output_data.loc[index_, 'fdr'] = fdr + ' ' + component_data.loc[
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optimizer_result.component_assign[cycle_set][head], 'part']
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# ANC信息
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cycle_nozzle[head] = component_data.loc[optimizer_result.component_assign[cycle_set][head], 'nz']
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for head in range(max_head_index):
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nozzle = cycle_nozzle[head]
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if nozzle == '':
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continue
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if nozzle != assigned_nozzle[head]:
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# 已分配有吸嘴，卸载原吸嘴
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if assigned_nozzle[head] != '':
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anc_list[assigned_nozzle[head]].append(assigned_anc_hole[head])
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anc_list[assigned_nozzle[head]] = sorted(anc_list[assigned_nozzle[head]])
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# 安装新的吸嘴
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assigned_nozzle[head] = nozzle
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try:
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assigned_anc_hole[head] = anc_list[nozzle][0]
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except IndexError:
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info = 'the number of nozzle for [' + nozzle + '] exceeds the quantity limit'
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raise IndexError(info)
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anc_list[nozzle].pop(0)
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output_data.loc[head_indexes[head], 'nz'] = '1-' + str(assigned_anc_hole[head]) + ' ' + nozzle
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output_data = output_data.reindex(placement_index)
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output_data = output_data.reset_index(drop=True)
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if 'desc' not in output_data.columns:
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column_index = int(np.where(output_data.columns.values.reshape(-1) == 'part')[0][0])
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output_data.insert(loc=column_index + 1, column='desc', value='')
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file_dir = file_path[:file_path.rfind('/') + 1]
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if not os.path.exists(file_dir):
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os.makedirs(file_dir)
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output_data.to_excel(file_path + '.xlsx', sheet_name='tb1', float_format='%.3f', na_rep='')
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def optimization_assign_result(component_data, pcb_data, optimizer_result, nozzle_hinter=False, component_hinter=False,
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feeder_hinter=False):
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if nozzle_hinter:
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columns = ['H{}'.format(i + 1) for i in range(max_head_index)] + ['cycle']
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nozzle_assign = pd.DataFrame(columns=columns)
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for cycle, components in enumerate(optimizer_result.component_assign):
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nozzle_assign_row = len(nozzle_assign)
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nozzle_assign.loc[nozzle_assign_row, 'cycle'] = optimizer_result.cycle_assign[cycle]
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for head in range(max_head_index):
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index = optimizer_result.component_assign[cycle][head]
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if index == -1:
|
||
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)] = ''
|
||
else:
|
||
nozzle = component_data.loc[index]['nz']
|
||
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)] = nozzle
|
||
|
||
for head in range(max_head_index):
|
||
if nozzle_assign_row == 0 or nozzle_assign.loc[nozzle_assign_row - 1, 'H{}'.format(head + 1)] != \
|
||
nozzle_assign.loc[nozzle_assign_row, 'H{}'.format(head + 1)]:
|
||
break
|
||
else:
|
||
nozzle_assign.loc[nozzle_assign_row - 1, 'cycle'] += nozzle_assign.loc[nozzle_assign_row, 'cycle']
|
||
nozzle_assign.drop([len(nozzle_assign) - 1], inplace=True)
|
||
|
||
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(optimizer_result.component_assign):
|
||
component_assign.loc[cycle, 'cycle'] = optimizer_result.cycle_assign[cycle]
|
||
for head in range(max_head_index):
|
||
index = optimizer_result.component_assign[cycle][head]
|
||
if index == -1:
|
||
component_assign.loc[cycle, 'H{}'.format(head + 1)] = ''
|
||
else:
|
||
component_assign.loc[cycle, 'H{}'.format(head + 1)] = component_data.loc[index]['part']
|
||
# component_assign.loc[cycle, 'H{}'.format(head + 1)] = 'C' + str(index)
|
||
|
||
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(optimizer_result.feeder_slot_assign):
|
||
feedr_assign.loc[cycle, 'cycle'] = optimizer_result.cycle_assign[cycle]
|
||
for head in range(max_head_index):
|
||
slot = optimizer_result.feeder_slot_assign[cycle][head]
|
||
if slot == -1:
|
||
feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'A'
|
||
else:
|
||
try:
|
||
feedr_assign.loc[cycle, 'H{}'.format(head + 1)] = 'F{}'.format(
|
||
slot) if slot <= max_slot_index // 2 else 'R{}'.format(slot - max_head_index)
|
||
except:
|
||
print('')
|
||
|
||
print(feedr_assign)
|
||
print('')
|
||
|
||
|
||
def placement_info_evaluation(component_data, pcb_data, optimizer_result, hinter=False):
|
||
# === 优化结果参数 ===
|
||
info = OptInfo()
|
||
|
||
# === 校验 ===
|
||
info.total_points = 0
|
||
for cycle, components in enumerate(optimizer_result.component_assign):
|
||
for head, component in enumerate(components):
|
||
if component == -1:
|
||
continue
|
||
info.total_points += optimizer_result.cycle_assign[cycle]
|
||
|
||
if info.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 OptInfo()
|
||
|
||
if optimizer_result.placement_assign:
|
||
total_points = info.total_points
|
||
for placements in optimizer_result.placement_assign:
|
||
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 OptInfo()
|
||
|
||
feeder_arrangement = defaultdict(set)
|
||
for cycle, feeder_slots in enumerate(optimizer_result.feeder_slot_assign):
|
||
for head, slot in enumerate(feeder_slots):
|
||
if slot == -1:
|
||
continue
|
||
feeder_arrangement[optimizer_result.component_assign[cycle][head]].add(slot)
|
||
|
||
info.total_components = len(feeder_arrangement.keys())
|
||
for part, data in component_data.iterrows():
|
||
if part in feeder_arrangement.keys() and data.fdn < len(feeder_arrangement[part]):
|
||
info = 'the number of arranged feeder of [' + data['part'] + '] exceeds the quantity limit'
|
||
warnings.warn(info, UserWarning)
|
||
return 0.
|
||
|
||
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(optimizer_result.component_assign)):
|
||
idx = optimizer_result.component_assign[cycle][head]
|
||
if idx == -1:
|
||
continue
|
||
else:
|
||
nozzle_assigned[head] = component_data.loc[idx]['nz']
|
||
|
||
for cycle_set, _ in enumerate(optimizer_result.component_assign):
|
||
floor_cycle, ceil_cycle = sum(optimizer_result.cycle_assign[:cycle_set]), sum(optimizer_result.cycle_assign[:(cycle_set + 1)])
|
||
for cycle in range(floor_cycle, ceil_cycle):
|
||
if sum(optimizer_result.component_assign[cycle_set]) == -max_head_index:
|
||
continue
|
||
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 optimizer_result.feeder_slot_assign[cycle_set][head] != -1:
|
||
pick_slot.append(optimizer_result.feeder_slot_assign[cycle_set][head] - interval_ratio * head)
|
||
if optimizer_result.component_assign[cycle_set][head] == -1:
|
||
continue
|
||
nozzle = component_data.loc[optimizer_result.component_assign[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
|
||
move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
|
||
axis_moving_time(cur_pos[1] - next_pos[1], 1))
|
||
info.round_time += move_time
|
||
info.anc_round_counter += 1
|
||
info.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 idx, slot in enumerate(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]]
|
||
info.operation_time += t_pick
|
||
info.pickup_counter += 1
|
||
|
||
move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
|
||
axis_moving_time(cur_pos[1] - next_pos[1], 1))
|
||
if idx == 0:
|
||
info.round_time += move_time
|
||
else:
|
||
info.pickup_time += move_time
|
||
|
||
info.total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
|
||
if slot != pick_slot[0]:
|
||
info.pickup_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 optimizer_result.component_assign[cycle_set][head] == -1:
|
||
# continue
|
||
# camera = component_data.loc[optimizer_result.component_assign[cycle_set][head]]['camera']
|
||
# if camera == '固定相机':
|
||
# next_pos = [fix_camera_pos[0] - head * head_interval, fix_camera_pos[1]]
|
||
# move_time = max(axis_moving_time(cur_pos[0] - next_pos[0], 0),
|
||
# axis_moving_time(cur_pos[1] - next_pos[1], 1))
|
||
# info.round_time += move_time
|
||
#
|
||
# info.total_distance += max(abs(cur_pos[0] - next_pos[0]), abs(cur_pos[1] - next_pos[1]))
|
||
# info.operation_time += t_fix_camera_check
|
||
# cur_pos = next_pos
|
||
|
||
# 贴装路径
|
||
if optimizer_result.placement_assign and optimizer_result.head_sequence:
|
||
for head in optimizer_result.head_sequence[cycle]:
|
||
index = optimizer_result.placement_assign[cycle][head]
|
||
if index == -1:
|
||
continue
|
||
mount_pos.append([pcb_data.iloc[index]['x'] - head * head_interval + stopper_pos[0],
|
||
pcb_data.iloc[index]['y'] + stopper_pos[1]])
|
||
mount_angle.append(pcb_data.iloc[index]['r'])
|
||
|
||
# 单独计算贴装路径
|
||
for cntPoints in range(len(mount_pos) - 1):
|
||
info.place_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
|
||
info.operation_time += head_rotary_time(mount_angle[0]) # 补偿角度转动带来的额外贴装用时
|
||
info.operation_time += t_nozzle_put * nozzle_put_counter + t_nozzle_pick * nozzle_pick_counter
|
||
for idx, pos in enumerate(mount_pos):
|
||
info.operation_time += t_place
|
||
move_time = max(axis_moving_time(cur_pos[0] - pos[0], 0), axis_moving_time(cur_pos[1] - pos[1], 1))
|
||
if idx == 0:
|
||
info.round_time += move_time
|
||
else:
|
||
info.place_time += move_time
|
||
|
||
info.total_distance += max(abs(cur_pos[0] - pos[0]), abs(cur_pos[1] - pos[1]))
|
||
cur_pos = pos
|
||
|
||
info.nozzle_change_counter += nozzle_put_counter + nozzle_pick_counter
|
||
|
||
info.total_time = info.pickup_time + info.round_time + info.place_time + info.operation_time
|
||
info.cycle_counter = sum(optimizer_result.cycle_assign)
|
||
if hinter:
|
||
optimization_assign_result(component_data, pcb_data, optimizer_result, nozzle_hinter=False,
|
||
component_hinter=False, feeder_hinter=False)
|
||
info.print()
|
||
|
||
return info
|
||
|
||
|
||
|
||
|