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import numpy as np
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import time
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import pandas as pd
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import datetime
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import os
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import warnings
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# 忽略所有的 DeprecationWarning
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warnings.filterwarnings("ignore", category=DeprecationWarning)
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import logging
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# 将 pymodbus 的日志级别提高到 ERROR，屏蔽 WARNING 及以下的信息
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logging.getLogger("pymodbus").setLevel(logging.ERROR)
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# ==================== 1.5 生成复合辨识序列 (三级火箭) ====================
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def generate_composite_sequence(dt, n_order, t_c, levels):
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"""
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生成包含 闭阀、全开、多电平M序列 的终极复合辨识序列
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"""
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# 1. 第一段：绝对闭阀段 (占位 8 秒)
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# 目的：憋气升压，暴露纯进气增益 c1
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part1_duration = 4.0
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part1_samples = int(part1_duration / dt)
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part1_signal = np.zeros(part1_samples)
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# 2. 第二段：绝对全开段 (占位 6 秒)
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# 目的：极限泄压，暴露纯排气增益 c2 和机械延迟 tau
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part2_duration = 5.0
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part2_samples = int(part2_duration / dt)
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part2_signal = np.full(part2_samples, 100.0) # 假设 100 为全开
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# 3. 第三段：多电平 M 序列段
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# 目的：中频动态跳变，暴露出 S 曲线非线性特征
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samples_per_bit = int(t_c / dt)
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part3_signal = generate_prbs(n_order=n_order, samples_per_bit=samples_per_bit, levels=levels)
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# 拼接并返回完整序列
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composite_signal = np.concatenate([part1_signal, part2_signal, part3_signal])
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return composite_signal
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# ==================== 1. 生成 M 序列信号 ====================
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def generate_prbs(n_order=7, low_val=40, high_val=60, samples_per_bit=20, levels=None):
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"""
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生成线性反馈移位寄存器的 PRBS 信号。
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n_order: 阶数 (2^n-1 长度)
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low_val: 低位输出（两电平时使用）
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high_val: 高位输出（两电平时使用）
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samples_per_bit: 每个码元持续的控制周期数
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levels: 可选的多电平列表（长度必须为 2^k），若提供则忽略 low_val/high_val
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"""
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length = 2 ** n_order - 1
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reg = np.ones(n_order, dtype=int)
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bit_seq = []
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# 反馈多项式：取最高位和次高位（可根据需要修改）
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for _ in range(length):
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feedback = reg[-1] ^ reg[-2] # 使用最后两位，适用于任意阶数
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bit_seq.append(reg[-1])
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reg = np.roll(reg, 1)
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reg[0] = feedback
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# 若未指定 levels，则使用两电平映射
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if levels is None:
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raw = np.array(bit_seq)
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scaled = np.where(raw == 1, high_val, low_val)
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signal = np.repeat(scaled, samples_per_bit)
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return signal
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# 多电平模式：将二进制序列按组转换为索引
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n_levels = len(levels)
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group_bits = int(np.log2(n_levels))
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if 2 ** group_bits != n_levels:
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raise ValueError("levels 长度必须是 2 的整数次幂")
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num_groups = len(bit_seq) // group_bits
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bit_seq = bit_seq[:num_groups * group_bits]
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indices = []
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for i in range(0, len(bit_seq), group_bits):
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idx = 0
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for j in range(group_bits):
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idx = (idx << 1) | bit_seq[i + j]
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indices.append(idx)
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scaled = [levels[idx] for idx in indices]
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signal = np.repeat(scaled, samples_per_bit)
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return signal
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# ==================== 5. 实时数据采集（通过 PLC） ====================
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def collect_data_with_prbs(conn_mgr,
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q_in_val, dt=0.05, n_order=7, t_c=1.0, levels=None,
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dead_area=240, xa_full=1062.5,
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save_dir=None, V_val=None,
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should_stop=None, log=print, on_sample=None,
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repeat=2):
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"""使用复合 M 序列激励，通过 MT2-AM8 模块采集压力响应数据。
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连接由调用方负责：传入已连接的 ConnectionManager。
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本函数不创建客户端、不调用 exit()/input()、不画图，只跑采集、存盘并返回结果。
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参数:
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conn_mgr : 已连接的 ConnectionManager（需有 read_pressure() / set_motor_position()）
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q_in_val : 实验流量 (SLM)，写入数据列并用于文件名
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dt : 控制/采样周期 (秒)
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n_order : M 序列阶数
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t_c : 码元周期 (秒)
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levels : 多电平列表（长度需为 2 的整数次幂）
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dead_area : 电机死区补偿
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xa_full : 阀门全开对应的电机位置上限
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save_dir : CSV 保存目录，None 时存到当前目录的 ind_data/
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V_val : 可选容积 (L)，提供时写入文件名
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should_stop : 可选回调，返回 True 时提前中止（供 GUI 停止按钮用）
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log : 日志回调，默认 print（GUI 可传入 self.log_message）
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on_sample : 可选回调 on_sample(t, u_cmd, pressure)，每采样点调用（供 GUI 刷新界面）
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repeat : 整段复合序列重复次数，默认 2
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返回:
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dict: {
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't': [...], 'u': [...], 'p': [...],
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'filename': str | None, 'samples': int, 'success': bool
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}
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"""
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# 生成复合序列（闭阀 + 全开 + 多电平 M 序列）
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signal = generate_composite_sequence(dt, n_order, t_c, levels)
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if repeat > 1:
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signal = np.tile(signal, repeat)
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log(f"序列已重复 {repeat} 次")
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total_samples = len(signal)
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duration = total_samples * dt
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log(f"复合序列总长度: {total_samples} 步, 预计耗时: {duration:.1f} 秒 ({duration/60:.1f} 分钟)")
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# 数据记录
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t_record = []
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u_record = []
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p_record = []
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# 初始化压力滤波
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p_filter = conn_mgr.read_pressure()
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log("开始采集...")
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start_time = time.perf_counter()
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for step, u_cmd in enumerate(signal):
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if should_stop is not None and should_stop():
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log("辨识采集被手动中止")
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conn_mgr.set_motor_position(0)
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break
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# 记录绝对时间
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current_t = time.perf_counter() - start_time
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# 写入阀门开度（含死区补偿）
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xa = dead_area + (100 - u_cmd) * (xa_full - dead_area) / 100
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conn_mgr.set_motor_position(xa)
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# 读取压力
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p_raw = conn_mgr.read_pressure()
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alpha = 1
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if p_raw is not None:
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p_filter = alpha * p_raw + (1 - alpha) * p_filter
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# 记录数据
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t_record.append(current_t)
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u_record.append(u_cmd)
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p_record.append(p_filter)
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if on_sample is not None:
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on_sample(current_t, u_cmd, p_filter)
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# 控制周期延时
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elapsed = time.perf_counter() - start_time
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expected = step * dt
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if elapsed < expected:
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time.sleep(expected - elapsed)
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# 保存为 CSV
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df = pd.DataFrame({'t': t_record, 'u': u_record, 'p': p_record})
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df['q_in'] = q_in_val
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if V_val is not None:
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df['V'] = V_val
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# if save_dir is None:
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# save_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "ind_data")
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# os.makedirs(save_dir, exist_ok=True)
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# 生成 CSV 字节数据（不写入磁盘）
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csv_buffer = df.to_csv(index=False).encode('utf-8')
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timestamp = datetime.datetime.now().strftime('%Y%m%d_%H%M%S')
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if V_val is not None:
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filename = f'identification_data_{q_in_val}SLM_{V_val}L_{timestamp}.csv'
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else:
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filename = f'identification_data_{q_in_val}SLM_{timestamp}.csv'
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# if V_val is not None:
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# filename = os.path.join(save_dir, f'identification_data_{q_in_val}SLM_{V_val}L_{timestamp}.csv')
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# else:
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# filename = os.path.join(save_dir, f'identification_data_{q_in_val}SLM_{timestamp}.csv')
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# df.to_csv(filename, index=False)
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# log(f"数据已保存至 {filename}")
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return {
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't': t_record,
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'u': u_record,
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'p': p_record,
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'filename': filename,
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'csv_data': csv_buffer,
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'samples': len(t_record),
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'success': len(t_record) > 0,
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}
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# ==================== 6. 主程序 ====================
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def main():
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"""独立运行入口：自建连接、采集、存盘。"""
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from PcControl import Easy521ModbusClient, MotorModbusRTUClient
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dt = 0.1
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n_order = 7 # 码元数 127
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t_c = 5 # 码元周期 5 秒
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levels = [10, 20, 30, 40, 50, 60, 70, 80] # 8 个电平，对应 group_bits=3
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# 连接 PLC
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modbus_client = Easy521ModbusClient()
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if not modbus_client.connect():
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print("无法连接 PLC，退出")
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return
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modbus_client.start_control()
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motor = MotorModbusRTUClient()
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if not motor.connect():
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print("电机连接失败，退出。")
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return
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time.sleep(1) # 增加短暂延时，等待驱动器接口就绪
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if not motor.init():
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print("电机初始化失败，退出。")
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motor.disconnect()
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return
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q_in_val = float(input("请输入实验时的流量 (SLM): "))
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try:
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collect_data_with_prbs(modbus_client, motor,
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q_in_val=q_in_val, dt=dt, n_order=n_order, t_c=t_c,
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levels=levels, save_dir="test_data", repeat=2)
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finally:
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modbus_client.stop_control()
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modbus_client.disconnect()
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motor.disconnect()
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if __name__ == "__main__":
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main()
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