449 lines
21 KiB
Python
449 lines
21 KiB
Python
import random
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import numpy as np
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import pandas as pd
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from base_optimizer.optimizer_common import *
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class DataMgr:
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def __init__(self):
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self.min_placement_points = 100
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self.max_placement_points = 800
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self.max_component_types = 40
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self.default_feeder_limit = 1
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self.max_nozzle_types = 4
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self.x_range = [50, 100, 150, 200, 300, 400, 500]
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self.y_range = [50, 100, 150, 200, 300, 400, 500]
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self.counter = 0
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self.update = 1
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self.pre_file = None
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self.part_col = ["part", "desc", "fdr", "nz", 'camera', 'group', 'feeder-limit', 'points']
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self.component_data = pd.DataFrame(columns=self.part_col) # the component list update for several rounds
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def generator(self, mode='Train'):
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boundary = [random.choice(self.x_range), random.choice(self.y_range)]
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if boundary[0] < boundary[-1]:
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boundary[0], boundary[-1] = boundary[-1], boundary[0]
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nozzle_type_list = random.sample(['CN065', 'CN220', 'CN040', 'CN140'], self.max_nozzle_types)
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# determine the nozzle type of component
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if self.counter % self.get_update_round() == 0 or mode == 'test':
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self.component_data = self.component_data.loc[[]]
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total_points = random.randint(self.min_placement_points, self.max_placement_points)
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total_nozzles = random.randint(1, self.max_nozzle_types)
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selected_nozzle = random.sample(nozzle_type_list, total_nozzles)
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for cp_idx in range(min(random.randint(1, self.max_component_types), total_points)):
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part, nozzle = 'C' + str(cp_idx), random.choice(selected_nozzle)
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self.component_data = pd.concat([self.component_data, pd.DataFrame(
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[part, '', 'SM8', nozzle, '飞行相机1', 'CHIP-Rect', self.default_feeder_limit, 0],
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index=self.part_col).T], ignore_index=True)
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random_fractions = np.random.rand(len(self.component_data))
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normalized_fractions = random_fractions / random_fractions.sum()
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for cp_idx, fraction in enumerate(normalized_fractions):
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self.component_data.iloc[cp_idx].points = round(fraction * total_points)
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step_col = ["ref", "x", "y", "z", "r", "part", "desc", "fdr", "nz", "hd", "cs", "cy", "sk", "bl", "ar", "pl", "lv"]
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pcb_data = pd.DataFrame(columns=step_col)
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idx = 1
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for _, data in self.component_data.iterrows():
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for _ in range(data.points):
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part, nozzle = data.part, data.nz
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pos_x, pos_y = np.random.uniform(0, boundary[0]), np.random.uniform(0, boundary[1])
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pcb_data = pd.concat([pcb_data, pd.DataFrame([['R' + str(idx), -pos_x, pos_y,
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0.000, 0.000, part, '', 'A', '1-0 ' + nozzle, 1, 1, 1, 0,
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1, 1, 1, 'L0']], columns=pcb_data.columns)], ignore_index=True)
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idx += 1
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self.counter += 1
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return pcb_data, self.component_data
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def recorder(self, file_handle, info: OptInfo, pcb_data, component_data):
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# 7个参数：总时间，周期数，吸嘴更换数，ANC往返次数，拾取次数，拾取路径，贴装路径
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lineinfo = '{:.3f}'.format(info.total_time) + '\t' + str(info.cycle_counter) + '\t' + str(
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info.nozzle_change_counter) + '\t' + str(info.anc_round_counter) + '\t' + str(
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info.pickup_counter) + '\t' + '{:.3f}'.format(info.pickup_distance) + '\t' + '{:.3f}'.format(
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info.place_distance)
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# 2个参数： PCB尺寸
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lineinfo += '\t' + '{:.3f}'.format(pcb_data['x'].max() - pcb_data['x'].min()) + '\t' + '{:.3f}'.format(
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pcb_data['y'].max() - pcb_data['y'].min())
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# part_position = defaultdict(list)
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# for _, data in pcb_data.iterrows():
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# part_position[data['part']].append([data['x'], data['y']])
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point_counter, component_counter = 0, 0
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nozzle_type = set()
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for _, data in component_data.iterrows():
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if data.points == 0:
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continue
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nozzle_type.add(data.nz)
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point_counter += data.points
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component_counter += 1
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# 3个参数：总点数，总元件数，总吸嘴数
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lineinfo += '\t' + str(point_counter) + '\t' + str(component_counter) + '\t' + str(len(nozzle_type))
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# 5 x 元件种类数 个参数： 元件名，吸嘴类型，点数，布局宽度，布局高度
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for _, data in component_data.iterrows():
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if data.points == 0:
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continue
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lineinfo += '\t' + data.part + '\t' + data.nz + '\t' + str(data.points)
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# lineinfo += '\t' + '{:.3f}'.format(np.ptp([pos[0] for pos in part_position[data.part]]))
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# lineinfo += '\t' + '{:.3f}'.format(np.ptp([pos[1] for pos in part_position[data.part]]))
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lineinfo += '\n'
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file_handle.write(lineinfo)
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def saver(self, file_path: str, pcb_data):
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lineinfo = ''
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for _, data in pcb_data.iterrows():
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lineinfo += '\t' + '{:.3f}'.format(data.x) + '\t' + '{:.3f}'.format(
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data.y) + '\t0.000\t0.000\t' + data.part + '\t\tA\t' + data.nz + '\t1\t1\t1\t1\t1\t1\t1\tN\tL0\n'
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pos = file_path.find('.')
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file_path = file_path[:pos] + '-' + str(self.counter) + file_path[pos:]
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with open(file_path, 'w') as f:
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f.write(lineinfo)
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f.close()
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self.pre_file = file_path
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def remover(self):
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if self.pre_file is not None:
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os.remove(self.pre_file)
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self.pre_file = None
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def encode(self, cp_points: defaultdict[str], cp_nozzle: defaultdict[str], board_width, board_height):
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# === general info ===
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total_points = sum(points for points in cp_points.values())
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total_component_types, total_nozzle_types = len(cp_points.keys()), len(set(cp_nozzle.values()))
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data = [total_points, total_component_types, total_nozzle_types]
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data.extend([board_width, board_height])
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# === heuristic info ===
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cycle, nozzle_change, anc_move, pickup = self.heuristic_estimator(cp_points, cp_nozzle)
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data.extend([cycle, nozzle_change, anc_move, pickup])
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# === nozzle info ===
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nozzle_points = defaultdict(int)
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for cp_idx, nozzle in cp_nozzle.items():
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nozzle_points[cp_nozzle[cp_idx]] += cp_points[cp_idx] # points for different nozzle type
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nozzle_items = [[nozzle, points] for nozzle, points in nozzle_points.items()]
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nozzle_items = sorted(nozzle_items, key=lambda x: x[1], reverse=True)
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nz2idx = defaultdict(int)
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nozzle_slice = [0 for _ in range(self.max_nozzle_types)]
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for idx, [nozzle, points] in enumerate(nozzle_items):
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nz2idx[nozzle] = idx
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nozzle_slice[idx] = points
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data.extend(nozzle_slice)
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# === component info ===
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# cp_items = [[component, points] for component, points in cp_points.items()]
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# cp_items = sorted(cp_items, key=lambda x: (x[1], nz2idx[cp_nozzle[x[0]]] * 0.1 + x[1]), reverse=True)
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# for component, points in cp_items:
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# nozzle = cp_nozzle[component]
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#
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# data_slice = [0 for _ in range(self.max_nozzle_types)]
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# data_slice[nz2idx[nozzle]] = points
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# data.extend(data_slice)
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#
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# assert self.max_component_types >= total_component_types
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# for _ in range(self.max_component_types - total_component_types):
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# data.extend([0 for _ in range(self.max_nozzle_types)])
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# === new component info ===
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comp_data_slice = defaultdict(list)
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for idx in range(self.max_nozzle_types):
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comp_data_slice[idx] = []
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cp_items = [[component, points] for component, points in cp_points.items()]
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cp_items = sorted(cp_items, key=lambda x: (x[1], nz2idx[cp_nozzle[x[0]]] * 0.1 + x[1]), reverse=True)
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for component, points in cp_items:
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nozzle = cp_nozzle[component]
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comp_data_slice[nz2idx[nozzle]].append(points)
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data_slice = [0 for _ in range(self.max_nozzle_types)]
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for idx in range(self.max_nozzle_types):
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data_slice[idx] = len(comp_data_slice[idx])
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data.extend(data_slice)
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for idx in range(self.max_nozzle_types):
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comp_data_slice[idx].extend([0 for _ in range(self.max_component_types - len(comp_data_slice[idx]))])
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data.extend(comp_data_slice[idx])
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return data
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def heuristic_estimator(self, cp_points, cp_nozzle):
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nozzle_heads, nozzle_points = defaultdict(int), defaultdict(int)
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for idx, points in cp_points.items():
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if points == 0:
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continue
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nozzle = cp_nozzle[idx]
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nozzle_points[nozzle] += points
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nozzle_heads[nozzle] = 1
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anc_round_counter = 0
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while sum(nozzle_heads.values()) != max_head_index:
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max_cycle_nozzle = None
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for nozzle, head_num in nozzle_heads.items():
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if max_cycle_nozzle is None or nozzle_points[nozzle] / head_num > nozzle_points[max_cycle_nozzle] / \
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nozzle_heads[max_cycle_nozzle]:
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max_cycle_nozzle = nozzle
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assert max_cycle_nozzle is not None
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nozzle_heads[max_cycle_nozzle] += 1
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head_nozzle_assignment, min_cost = None, None
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# generate initial nozzle group
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nozzle_group = []
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# averagely assign for the same type of nozzles, and generate nozzle group
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nozzle_points_cpy = copy.deepcopy(nozzle_points)
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for nozzle, heads in nozzle_heads.items():
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points = nozzle_points_cpy[nozzle] // heads
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for _ in range(heads):
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nozzle_group.append([nozzle, points])
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nozzle_points_cpy[nozzle] -= heads * points
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for idx, [nozzle, _] in enumerate(nozzle_group):
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if nozzle_points_cpy[nozzle]:
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nozzle_group[idx][1] += 1
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nozzle_points_cpy[nozzle] -= 1
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while True:
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# assign nozzle group to each head
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nozzle_group.sort(key=lambda x: -x[1])
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tmp_head_nozzle_assignment = []
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head_total_points = [0 for _ in range(max_head_index)]
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for idx, nozzle_item in enumerate(nozzle_group):
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if idx < max_head_index:
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tmp_head_nozzle_assignment.append([nozzle_item.copy()])
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head_total_points[idx] += nozzle_item[1]
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else:
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min_head = np.argmin(head_total_points)
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tmp_head_nozzle_assignment[min_head].append(nozzle_item.copy())
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head_total_points[min_head] += nozzle_item[1]
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cost = t_cycle * max(head_total_points)
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for head in range(max_head_index):
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for cycle in range(len(tmp_head_nozzle_assignment[head])):
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if cycle + 1 == len(tmp_head_nozzle_assignment[head]):
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if tmp_head_nozzle_assignment[head][cycle][0] != tmp_head_nozzle_assignment[head][-1][0]:
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cost += t_nozzle_change
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else:
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if tmp_head_nozzle_assignment[head][cycle][0] != tmp_head_nozzle_assignment[head][cycle + 1][0]:
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cost += t_nozzle_change
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while True:
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min_head, max_head = np.argmin(head_total_points), np.argmax(head_total_points)
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min_head_nozzle, max_head_nozzle = tmp_head_nozzle_assignment[min_head][-1][0], \
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tmp_head_nozzle_assignment[max_head][-1][0]
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if min_head_nozzle == max_head_nozzle:
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break
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min_head_list, max_head_list = [min_head], [max_head]
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minmax_head_points = 0
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for head in range(max_head_index):
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if head in min_head_list or head in max_head_list:
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minmax_head_points += head_total_points[head]
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continue
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# the max/min heads with the sum nozzle type
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if tmp_head_nozzle_assignment[head][-1][0] == tmp_head_nozzle_assignment[min_head][-1][0]:
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min_head_list.append(head)
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minmax_head_points += head_total_points[head]
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if tmp_head_nozzle_assignment[head][-1][0] == tmp_head_nozzle_assignment[max_head][-1][0]:
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max_head_list.append(head)
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minmax_head_points += head_total_points[head]
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# todo: restriction of available nozzle
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# the reduction of cycles is not offset the cost of nozzle change
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average_points = minmax_head_points // (len(min_head_list) + len(max_head_list))
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reminder_points = minmax_head_points % (len(min_head_list) + len(max_head_list))
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max_cycle = average_points + (1 if reminder_points > 0 else 0)
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for head in range(max_head_index):
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if head in min_head_list or head in max_head_list:
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continue
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max_cycle = max(max_cycle, head_total_points[head])
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nozzle_change_counter = 0
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for head in min_head_list:
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if tmp_head_nozzle_assignment[head][0] == tmp_head_nozzle_assignment[head][-1]:
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nozzle_change_counter += 2
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else:
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nozzle_change_counter += 1
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if t_cycle * (max(head_total_points) - max_cycle) < t_nozzle_change * nozzle_change_counter:
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break
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cost -= t_cycle * (max(head_total_points) - max_cycle) - t_nozzle_change * nozzle_change_counter
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required_points = 0 # 待均摊的贴装点数较多的吸嘴类型
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for head in min_head_list:
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points = average_points - head_total_points[head]
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tmp_head_nozzle_assignment[head].append([max_head_nozzle, points])
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head_total_points[head] = average_points
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required_points += points
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for head in max_head_list:
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tmp_head_nozzle_assignment[head][-1][1] -= required_points // len(max_head_list)
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head_total_points[head] -= required_points // len(max_head_list)
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required_points -= (required_points // len(max_head_list)) * len(max_head_list)
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for head in max_head_list:
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if required_points <= 0:
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break
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tmp_head_nozzle_assignment[head][-1][1] -= 1
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head_total_points[head] -= 1
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required_points -= 1
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if min_cost is None or cost < min_cost:
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min_cost = cost
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head_nozzle_assignment = copy.deepcopy(tmp_head_nozzle_assignment)
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else:
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break
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# 在吸嘴组中增加一个吸嘴
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idx, nozzle = 0, nozzle_group[0][0]
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for idx, [nozzle_, _] in enumerate(nozzle_group):
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if nozzle_ != nozzle:
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break
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average_points, remainder_points = nozzle_points[nozzle] // (idx + 1), nozzle_points[nozzle] % (idx + 1)
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nozzle_group.append([nozzle, 0])
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for idx, [nozzle_, _] in enumerate(nozzle_group):
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if nozzle_ == nozzle:
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nozzle_group[idx][1] = average_points + (1 if remainder_points > 0 else 0)
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remainder_points -= 1
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cycle_counter, nozzle_change_counter = 0, 0
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for head in range(max_head_index):
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head_cycle_counter = 0
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for cycle in range(len(head_nozzle_assignment[head])):
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if cycle + 1 == len(head_nozzle_assignment[head]):
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if head_nozzle_assignment[head][0][0] != head_nozzle_assignment[head][-1][0]:
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nozzle_change_counter += 1
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else:
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if head_nozzle_assignment[head][cycle][0] != head_nozzle_assignment[head][cycle + 1][0]:
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nozzle_change_counter += 1
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head_cycle_counter += head_nozzle_assignment[head][cycle][1]
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cycle_counter = max(cycle_counter, head_cycle_counter)
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# === 元件拾取次数预估 ===
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cp_info = []
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for idx, points in cp_points.items():
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if points == 0:
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continue
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feeder_limit = 1 # todo: 暂时仅考虑一种吸嘴的情形
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reminder_points = points % feeder_limit
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for _ in range(feeder_limit):
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cp_info.append([idx, points // feeder_limit + (1 if reminder_points > 0 else 0), cp_nozzle[idx]])
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reminder_points -= 1
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cp_info.sort(key=lambda x: -x[1])
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nozzle_level, nozzle_counter = defaultdict(int), defaultdict(int)
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level_points = defaultdict(int)
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for info in cp_info:
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nozzle = info[2]
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if nozzle_counter[nozzle] and nozzle_counter[nozzle] % nozzle_heads[nozzle] == 0:
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nozzle_level[nozzle] += 1
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level = nozzle_level[nozzle]
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level_points[level] = max(level_points[level], info[1])
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nozzle_counter[nozzle] += 1
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pickup_counter = sum(points for points in level_points.values())
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return cycle_counter, nozzle_change_counter, anc_round_counter, pickup_counter
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def decode(self, line_info):
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items = line_info.split('\t')
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board_width, board_height = float(items[7]), float(items[8])
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total_points, total_component_types = int(items[9]), int(items[10])
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part_col = ["part", "desc", "fdr", "nz", 'camera', 'group', 'feeder-limit', 'points']
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step_col = ["ref", "x", "y", "z", "r", "part", "desc", "fdr", "nz", "hd", "cs", "cy", "sk", "bl", "ar", "pl",
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"lv"]
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component_data = pd.DataFrame(columns=part_col)
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pcb_data = pd.DataFrame(columns=step_col)
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idx = 1
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for cp_counter in range(total_component_types):
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part, nozzle = items[12 + cp_counter * 3], items[13 + cp_counter * 3]
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points = int(items[14 + cp_counter * 3])
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pos_list = []
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for _ in range(points):
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pos_list.append([np.random.uniform(0, board_width), np.random.uniform(0, board_height)])
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component_data = pd.concat([component_data, pd.DataFrame(
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[part, '', 'SM8', nozzle, '飞行相机1', 'CHIP-Rect', self.default_feeder_limit, points], index=part_col).T],
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ignore_index=True)
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for pos_x, pos_y in pos_list:
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pcb_data = pd.concat([pcb_data, pd.DataFrame([['R' + str(idx), - pos_x, pos_y,
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0.000, 0.000, part, '', 'A', '1-0 ' + nozzle, 1, 1, 1, 0,
|
||
1, 1, 1, 'L0']], columns=pcb_data.columns)],
|
||
ignore_index=True)
|
||
return pcb_data, component_data
|
||
|
||
def loader(self, file_path):
|
||
train_data, time_data = [], []
|
||
cycle_data, nozzle_change_data, anc_move_data, pickup_data, movement_data, point_data = [], [], [], [], [], []
|
||
with open(file_path, 'r') as file:
|
||
line = file.readline()
|
||
while line:
|
||
items = line.split('\t')
|
||
|
||
cp_points, cp_nozzle = defaultdict(int), defaultdict(str)
|
||
# cp_width, cp_height = defaultdict(float), defaultdict(float)
|
||
for cp_idx in range((len(items) - 12) // 3):
|
||
points = int(items[14 + cp_idx * 3])
|
||
if points == 0:
|
||
continue
|
||
|
||
component_type, nozzle_type = items[12 + cp_idx * 3], items[13 + cp_idx * 3]
|
||
cp_points[component_type], cp_nozzle[component_type] = points, nozzle_type
|
||
# cp_width[component_type], cp_height[component_type] = float(items[15 + cp_idx * 5]), float(
|
||
# items[16 + cp_idx * 5])
|
||
|
||
# if len(set(cp_nozzle.values())) > 2 or len(set(cp_nozzle.keys())) > 3:
|
||
if len(cp_points.keys()) > 30:
|
||
line = file.readline()
|
||
continue
|
||
|
||
cycle_data.append(float(items[1]))
|
||
nozzle_change_data.append(float(items[2]))
|
||
anc_move_data.append(float(items[3]))
|
||
pickup_data.append(float(items[4]))
|
||
movement_data.append(float(items[5]) + float(items[6]))
|
||
point_data.append(sum(pt for pt in cp_points.values()))
|
||
|
||
# assembly time data
|
||
time_data.append(float(items[0]))
|
||
|
||
train_data.append(self.encode(cp_points, cp_nozzle, float(items[7]), float(items[8])))
|
||
# train_data[-1].extend([cycle_data[-1], nozzle_change_data[-1], anc_move_data[-1], pickup_data[-1]])
|
||
line = file.readline()
|
||
|
||
return train_data, time_data, cycle_data, nozzle_change_data, anc_move_data, pickup_data, point_data
|
||
|
||
def get_feature(self):
|
||
return (self.max_component_types + 2) * self.max_nozzle_types + 5 + 4
|
||
|
||
def get_update_round(self):
|
||
return self.update
|
||
|