22222222222222222

22222222222222222222222222222222222222 
内容概要:本文围绕六自由度机械臂的人工神经网络(ANN)设计展开,重点研究了正向与逆向运动学求解、正向动力学控制以及基于拉格朗日-欧拉法推导逆向动力学方程,并通过Matlab代码实现相关算法。文章结合理论推导与仿真实践,利用人工神经网络对复杂的非线性关系进行建模与逼近,提升机械臂运动控制的精度与效率。同时涵盖了路径规划中的RRT算法与B样条优化方法,形成从运动学到动力学再到轨迹优化的完整技术链条。; 适合人群:具备一定机器人学、自动控制理论基础,熟悉Matlab编程,从事智能控制、机器人控制、运动学六自由度机械臂ANN人工神经网络设计:正向逆向运动学求解、正向动力学控制、拉格朗日-欧拉法推导逆向动力学方程(Matlab代码实现)建模等相关方向的研究生、科研人员及工程技术人员。; 使用场景及目标:①掌握机械臂正/逆运动学的数学建模与ANN求解方法;②理解拉格朗日-欧拉法在动力学建模中的应用;③实现基于神经网络的动力学补偿与高精度轨迹跟踪控制;④结合RRT与B样条完成平滑路径规划与优化。; 阅读建议:建议读者结合Matlab代码动手实践,先从运动学建模入手,逐步深入动力学分析与神经网络训练,注重理论推导与仿真实验的结合,以充分理解机械臂控制系统的设计流程与优化策略。
#!/bin/env python # -*- coding: utf-8 -*- import os import math import re import sys import string import faulthandler faulthandler.enable() from PyQt5.QtGui import * from PyQt5.QtCore import * from PyQt5.QtWidgets import * from PyQt5 import QtWidgets from py39COM import Gateway, InCAM from py39Tools import TableWidget from messageBox import messageBox from ICO import ICO from ICNET import ICNET from reportlab.pdfgen.canvas import Canvas as ReportCanvas from reportlab.platypus import PageBreak, FrameBreak, Frame, Table, TableStyle from reportlab.platypus.doctemplate import SimpleDocTemplate, PageTemplate, NextPageTemplate from DrawingCreate import DrawingTemplate from reportlab.lib import colors from Gerber2SVG import Origin, Feature from Gerber2Canvas import Gerber2Canvas, Dimension, Direct from reportlab.lib.pagesizes import A4 from reportlab.lib.units import mm from EqHelper import EqHelper import subprocess from ui.params_window import Ui_Form class Dr_POFV_Map(QWidget): # A5 = (100*mm, 100*mm) pageSize = (A4[0], A4[1]) # 页面大小 bgTemp: DrawingTemplate # 画PDF的模板类 doc: SimpleDocTemplate drawingVer = '01' # 版本号 drawingParams = dict() # PDF模板参数 canvas: ReportCanvas # 画布 tmpLays = [] # 需要删除的临时层 sigDimension = {} # 图纸编号 MI-13 drawNo = 'MI-13' # str # 铜厚测量图纸 drawName: str = '孔到孔距离标注图纸' workstation = None dirPath = None # 公共盘路径 filePath = None # 文件路径 datLay = None # dat层 datWork = 'dat_copy_work_lay' # dat复制的工作层 coorArr = [] # 坐标序列 def __init__(self): self.JOB = os.environ.get('JOB', None) self.STEP = os.environ.get('STEP', None) INCAM_DEBUG = os.getenv('INCAM_DEBUG', None) if INCAM_DEBUG == 'yes': self.incam = Gateway() self.JOB = self.incam.job_name self.STEP = self.incam.step_name self.pid = self.incam.pid else: self.incam = InCAM() self.pid = os.getpid() self.ico = ICO(incam=self.incam) self.icNet = ICNET(incam=self.incam) self.jobName = self.ico.SimplifyJobName(jobName=self.JOB) self.dbSite = self.ico.GetDBSite(JOB=self.JOB) self.SITE = self.ico.GetSite(JOB=self.JOB) self.layerMatrix = self.ico.GetLayerMatrix() self.step_list = self.ico.GetStepList() self.workStep = self.ico.GetEditList()[0] #得到edit步骤 # 获取基础 workfile 路径:/incam/gz-workfile/ base_work_path = self.ico.GetWorkFilePath() # 注意:不传 mode 或 mode 默认为空 # 构造目标输出目录 target_pdf_dir = os.path.join(base_work_path, 'output', 'pdf', self.jobName) # 确保目录存在 os.makedirs(target_pdf_dir, exist_ok=True) # 设置最终 PDF 输出路径 self.filePath = os.path.join(target_pdf_dir, f"{self.jobName}-MI-13-POFV.pdf") # self.imgPath = os.path.join(base_work_path, 'output', 'laser_image', self.jobName) os.makedirs(self.imgPath, exist_ok=True) self.imgPath = os.path.join(self.imgPath, 'pofv_ring.png') # 网络共享的基础路径(父目录) # base_network_path = '//10.10.80.178/workfile/output/pdf' # base_network_path = '\\\\10.10.80.178\\workfile\\output\\pdf' # job_folder = self.jobName # target_path = os.path.join(base_network_path, job_folder) # 完整目标路径 # basePath = '/tmp' # 默认降级路径 # try: # # 检查基础网络路径是否存在(即 pdf/ 目录) # if not os.path.exists(base_network_path): # raise OSError(f"Base network path does not exist: {base_network_path}") # if not os.path.isdir(base_network_path): # raise OSError(f"Base network path is not a directory: {base_network_path}") # # 尝试创建 jobName 子目录 # os.makedirs(target_path, exist_ok=True) # # 再次确认有写权限 # test_file = os.path.join(target_path, '.test_write') # with open(test_file, 'w') as f: # f.write('test') # os.remove(test_file) # # 如果一切正常,使用网络路径 # basePath = target_path # except Exception as e: # print(f"[WARNING] Cannot use network path: {e}") # messageBox.showDialog( # title='提示', # text=f'无法访问网络路径,将保存至临时目录 (/tmp)。\n错误: {str(e)}', # buttons=['OK'], # defaultButton='OK' # ) # basePath = '/tmp' # # === 设置最终路径 === # self.imgPath = os.path.join(self.ico.GetWorkFilePath(), 'output', 'laser_image', self.jobName) # os.makedirs(self.imgPath, exist_ok=True) # self.imgPath = os.path.join(self.imgPath, 'pofv_ring.png') # self.filePath = os.path.join(basePath, f"{self.jobName}-MI-13-POFV.pdf") self.totalPage = 1 # PDF总页数(外层) # 获取中文用户名 user = self.ico.GetUserName() usList = ICNET.GetCTypeUserInfo('user2CN') self.userCN = user if user in usList: self.userCN = usList[user] self.run() def find_keys_by_start_or_end(self, data, target): """ 查找所有 start 或 end 等于 target 的钻孔层 """ result = [] for key, value in data.items(): if isinstance(value, dict): # 确保是字典 start = value.get('start') end = value.get('end') if start == target or end == target: result.append(key) return result def chk_touch(self, dat_layer, intersect_layer): self.ico.ClearLayer() self.ico.DispWork(dat_layer) # 重置并设置基础过滤器 self.incam.COM("reset_filter_criteria,filter_name=,criteria=all") self.incam.COM("set_filter_type,filter_name=,lines=yes,pads=yes,surfaces=yes,arcs=yes,text=yes") self.incam.COM("set_filter_polarity,filter_name=,positive=yes,negative=yes") # 找到dat层中touch相交层的物体 self.incam.COM(f"sel_ref_feat,layers={intersect_layer},use=filter,mode=touch,pads_as=shape,f_types=line;pad;surface;arc;text,polarity=positive;negative,include_syms=,exclude_syms=") self.incam.COM('get_select_count') selected_features = int(self.incam.COMANS) return selected_features def get_coords(self, feature): """ 从任意图元中快速提取一个坐标点 (x, y) 特别处理 surface 的 orig 字段 """ # 优先返回已有的 cx/cy pad # all_cor = [] if 'cx' in feature and 'cy' in feature: return round(feature['cx'], 3), round(feature['cy'], 3) # 对于 line 等有 x0/y0 的类型 if 'x0' in feature and 'y0' in feature: return round(feature['x0'], 3), round(feature['y0'], 3) # 处理 surface 的 orig if feature.get('type') == 'surface' and isinstance(feature.get('orig'), list): pattern = r'#O[BS]\s+([-\d.]+)\s+([-\d.]+)' for line in feature['orig']: match = re.search(pattern, line) if match: x = float(match.group(1)) y = float(match.group(2)) return round(x, 3), round(y, 3) # 返回第一个有效坐标即可 return None def run(self): self.ico.OpenStep(step=self.workStep, job=self.JOB) site = self.ico.GetSite(self.JOB) layerMatrix = self.ico.GetLayerMatrix() sig_out_list = layerMatrix['sigOutLay'] sm_lay_list = layerMatrix['smAllLay'] drill_through = layerMatrix['drlThrough'] helper = EqHelper(self.incam, self.JOB, self.workStep) pofv_flag = helper.getIsPOFV() if not (site == '301' and pofv_flag is True): messageBox.showDialog( title='提示', text='此板件不需要出具POFV图纸', bitmap='warning', buttons=['OK'], defaultButton='OK' ) sys.exit() # 存储每层处理结果 layer_results = {} tmp_drill_layer = "drill_final" self.ico.CreateOrEmptyLay([tmp_drill_layer]) for i, sig_layer in enumerate(sig_out_list): sm_layer = sm_lay_list[i] matching_layers = self.find_keys_by_start_or_end(drill_through, sig_layer) temp_intersect = f"int_{sig_layer}" # is_front = i == 0 # 假设第一个为正面 if not matching_layers: continue # 清理并创建相交层 if self.ico.IsLayerExist([temp_intersect]): self.ico.DelLayer([temp_intersect]) self.ico.CreateOrEmptyLay([temp_intersect]) self.ico.ClearAll() self.ico.DispWork(layer=sig_layer) self.ico.DispLayer(layer=sm_layer) self.ico.GetLayIntersect(self.workStep, sm_layer, sig_layer, acc=0.01) self.incam.COM(f"matrix_rename_layer,job={self.JOB},matrix=matrix,layer=intersect,new_name={temp_intersect}") self.ico.ClearLayer() self.ico.DispWork(temp_intersect) inter_info = self.ico.GetFeatureFullInfo(self.workStep, layer=temp_intersect) if not inter_info: messageBox.showDialog( title='提示', text=f'{sm_layer} 和 {sig_layer} 没有相交部分', buttons=['OK'], defaultButton='OK' ) self.ico.DelLayer(temp_intersect) continue #开始检测该层是否有有效钻孔匹配 result = { 'has_full_match': False, # 缩小50um后仍匹配 'has_raw_match': False, # 原始匹配 'has_expanded_match': False, # 外扩100um后匹配 'dat_layer': None, 'temp_intersect': temp_intersect } found_in_this_layer = False for dat_layer in matching_layers: # 情况A:检查原始是否 touch selected_features = self.chk_touch(dat_layer, temp_intersect) if selected_features > 0: # 尝试缩小50um shrunk_layer = temp_intersect + '-100' self.ico.ClearLayer() self.ico.DispWork(temp_intersect) self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp_intersect, shrunk_layer) ) print("11111111111111111111111") # self.ico.BackupLay(self.JOB, self.workStep, temp_intersect, shrunk_layer) self.ico.ClearLayer() # 缩小50um self.ico.DispWork(shrunk_layer) self.incam.COM("rv_tab_empty,report=resize_rep,is_empty=yes") self.incam.COM("sel_resize,size=-100,corner_ctl=no") self.incam.COM("rv_tab_view_results_enabled,report=resize_rep,is_enabled=no,serial_num=-1,all_count=-1") selected_shrunk = self.chk_touch(dat_layer, shrunk_layer) if selected_shrunk > 0: result['has_full_match'] = True result['dat_layer'] = dat_layer self.ico.DelLayer(shrunk_layer) found_in_this_layer = True break # 成功即退出 dat_layer 循环 else: result['has_raw_match'] = True result['dat_layer'] = dat_layer self.ico.DelLayer(shrunk_layer) #情况B:原始无 touch,尝试外扩+100um else: expanded_layer = temp_intersect + '+100' self.ico.ClearLayer() self.ico.DispWork(temp_intersect) self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp_intersect, expanded_layer) ) print("22222222222222222") # self.ico.BackupLay(self.JOB, self.workStep, temp_intersect, expanded_layer) self.ico.ClearLayer() # 外扩50um self.ico.DispWork(expanded_layer) self.incam.COM("rv_tab_empty,report=resize_rep,is_empty=yes") self.incam.COM("sel_resize,size=+100,corner_ctl=no") self.incam.COM("rv_tab_view_results_enabled,report=resize_rep,is_enabled=no,serial_num=-1,all_count=-1") selected_expanded = self.chk_touch(dat_layer, expanded_layer) if selected_expanded > 0: result['has_expanded_match'] = True result['dat_layer'] = dat_layer result['expanded_layer'] = expanded_layer # 保留用于后续复制 found_in_this_layer = True break # 成功即退出 else: self.ico.DelLayer(expanded_layer) # 保存当前层结果 if found_in_this_layer or result['has_raw_match']: layer_results[sig_layer] = result else: self.ico.DelLayer(temp_intersect) # 无任何匹配,清理 # 二、根据收集结果进行最终输出决策 final_copied = False # 1. 优先:正面 缩小50um后有匹配 front_sig = sig_out_list[0] if front_sig in layer_results: res = layer_results[front_sig] if res['has_full_match']: temp = res['temp_intersect'] dat = res['dat_layer'] shrunk = temp + '-100' # 重建并使用缩小层 self.ico.ClearLayer() self.ico.DispWork(temp) self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, , invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % (self.JOB, self.workStep, temp, shrunk)) print("3333333333333333333333") # self.ico.BackupLay(self.JOB, self.workStep, temp, shrunk) self.incam.COM("sel_resize,size=-100,corner_ctl=no") self.chk_touch(dat, shrunk) self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115") self.ico.DelLayer(shrunk) final_copied = True # 2. 背面 缩小50um后有匹配 if not final_copied: for i, sig_layer in enumerate(sig_out_list): if i == 0: continue # 跳过正面 if sig_layer in layer_results: res = layer_results[sig_layer] if res['has_full_match']: temp = res['temp_intersect'] dat = res['dat_layer'] shrunk = temp + '-100' self.ico.ClearLayer() self.ico.DispWork(temp) self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, shrunk_layer)) print("444444444444444444") # self.ico.BackupLay(self.JOB, self.workStep, temp, shrunk_layer) self.incam.COM("sel_resize,size=-100,corner_ctl=no") self.chk_touch(dat, shrunk) self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115") self.ico.DelLayer(shrunk) final_copied = True break # 3. 正面 有原始或外扩匹配(但没有进入缩小成功分支) if not final_copied and front_sig in layer_results: res = layer_results[front_sig] temp = res['temp_intersect'] dat = res['dat_layer'] self.ico.ClearLayer() self.ico.DispWork(temp) if res['has_raw_match']: self.chk_touch(dat, temp) self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115") final_copied = True elif res['has_expanded_match']: exp_layer = temp + '+100' # self.incam.COM('copy_layer, ..., dest_layer=%s' % exp_layer) self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, exp_layer)) self.incam.COM("sel_resize,size=+100,corner_ctl=no") self.chk_touch(dat, exp_layer) self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115") self.ico.DelLayer(exp_layer) final_copied = True # 4. 任意背面 有原始或外扩匹配 if not final_copied: for i, sig_layer in enumerate(sig_out_list): if i == 0: continue if sig_layer in layer_results: res = layer_results[sig_layer] temp = res['temp_intersect'] dat = res['dat_layer'] self.ico.ClearLayer() self.ico.DispWork(temp) if res['has_raw_match']: self.chk_touch(dat, temp) elif res['has_expanded_match']: exp_layer = temp + '+100' self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, exp_layer)) self.incam.COM("sel_resize,size=+100,corner_ctl=no") self.chk_touch(dat, exp_layer) self.ico.DelLayer(exp_layer) # self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115,subsystem=1-Up-Edit") self.incam.COM(f"sel_copy_other,dest=layer_name,target_layer={tmp_drill_layer},invert=no,dx=0,dy=0,size=0,x_anchor=-1.36612,y_anchor=-1.03115") final_copied = True break # 5. 完全失败 if not final_copied: messageBox.showDialog( title='提示', text='此板件不需要出具POFV图纸', bitmap='warning', buttons=['OK'], defaultButton='OK' ) sys.exit() # 清理所有临时层 for sig_layer in sig_out_list: base = f"int_{sig_layer}" self.ico.DelLayer([base, base+'+100']) self.sigDimension[sig_layer] = {} self.sigDimension[sig_layer]['point_x'] = [] self.sigDimension[sig_layer]['point_y'] = [] self.ico.ClearLayer() # 获取要标注的孔坐标(来自 tmp_drill_layer) self.ico.DispWork(tmp_drill_layer) #获取最终孔层的信息,主要是要其中任意一个孔的中心坐标 padList = self.incam.INFO( '-t layer -e %s/%s/%s -m script -d FEATURES -o consider_origin+feat_index+f0' % ( self.JOB, self.workStep, tmp_drill_layer)) for pad in padList: pad.strip() # 3 #P 0.927 1.915 r261 P 1 0 N;.drill=via,.drill_flag=103,.combined_size=0.000000 strList = pad.split() match1 = re.search(r'#(\d+)\s+#P\s+', pad) if match1: midpointX = '%0.3f' % ( float(strList[2])) # 孔盘中点的X坐标 midpointY = '%0.3f' % ( float(strList[3])) # 孔盘中点的Y坐标 self.sigDimension[sig_layer]['point_x'].append(midpointX) self.sigDimension[sig_layer]['point_y'].append(midpointY) self.ico.ClearLayer() # self.ico.DispWork(sig_layer) # self.ico.DispLayer(sm_layer) # self.ico.DispLayer(dat_layer) self.__renderPDF(sig_layer) #在找到的那一层操作,正面或背面 self.ico.DelLayer(self.tmpLays) mes = f'输出目录:{self.filePath},继续将打开PDF' ans = messageBox.showMessage( bitmap='information', title='PDF输出完成', message=mes, buttons=['退出', '继续']) if ans == '继续': os.system(f"/usr/bin/evince {self.filePath} &") self.incam.COM('disp_on') # TODO 转换成png 放到output里面 self.__pdf2PNG() return 0 def __pdf2PNG(self): cmd = f"convert -density 120 -quality 80 -background white -alpha remove {self.filePath} {self.imgPath}" os.system(cmd) def __renderPDF(self, sig_lay): """ 渲染PDF:设置文档结构并构建内容 """ canv = ReportCanvas(self.filePath, pagesize=self.pageSize) self.canvas = canv self.drawingParams = self.__setTemplateParams() # 设置模板的默认参数 self.bgTemp = DrawingTemplate( canv, A4[0], A4[1], self.drawingParams) lM = 0 rM = 0 tM = 0 bM = 0 self.doc = SimpleDocTemplate(self.filePath, pagesize=self.pageSize, topMargin=tM, bottomMargin=bM, leftMargin=lM, rightMargin=rM, title="MI-13", author=self.userCN)#filePath:最终存放路径; pageSize:画布大小 self.__setPageFrame(self.doc) story = [] story.append(NextPageTemplate('p1')) g2c = self.__createGerber(sig_lay) story.append(FrameBreak()) story.append(g2c) story.append(PageBreak()) self.doc.build(story) # def __setPageFrame(self, doc: SimpleDocTemplate): """设置每一页框架分布 """ frames = [] fh = doc.height / 3 padX = self.drawingParams['padx'] padY = self.drawingParams['pady'] tableFrame = Frame(x1=padX, y1=padY + fh * 2, width=doc.width, height=fh, id='f1') gerberFrame = Frame( x1=padX, y1=padY, width=doc.width, height=fh * 2, id='f2') frames.append(tableFrame) frames.append(gerberFrame) doc.addPageTemplates([PageTemplate(id='p1', frames=frames)]) def getMergeLay(self, lay): """ 将lay备份并将备份层合并为surface """ mergeLay = f'{lay}_merge' self.ico.DelLayer(mergeLay) self.ico.ClearAll() self.ico.DispWork(lay, number=1) self.incam.COM( f'sel_copy_other,dest=layer_name,target_layer={mergeLay},invert=no,dx=0,dy=0,size=0,x_anchor=0,y_anchor=0') self.ico.DispWork(mergeLay, number=1) self.incam.COM( 'sel_cont_resize,accuracy=25.4,break_to_islands=yes,island_size=0,hole_size=0,drill_filter=no,corner_ctl=no') return mergeLay def getDnxSigLayMapping(self, lay: str): """ 获取dnx孔层与其钻带的起始信号层之间的映射关系(1:1) :param dnxLayers:线路层 :return:起始终止是线路层的所有钻孔 """ dnxSigLayMapping = [] for drl in self.ico.GetLayerMatrix()['drlAllLay']: startLay = self.ico.GetLayerMatrix()['drlThrough'][drl]['start'] endLay = self.ico.GetLayerMatrix()['drlThrough'][drl]['end'] if startLay == lay or endLay == lay: dnxSigLayMapping.append(drl) return dnxSigLayMapping # 分析创建光绘的关键部分 def __createGerber(self, sigLay): layerMatrix = self.ico.GetLayerMatrix() sig_out_list = layerMatrix['sigOutLay'] sm_lay_list = layerMatrix['smAllLay'] toRead = [] # 3. 添加阻焊层 idx = sig_out_list.index(sigLay) # 获取对应的阻焊层 sm_layer = sm_lay_list[idx] maskFilePath = self.ico.getFeatureFile(self.JOB, self.workStep, sm_layer) toRead.append(Feature(maskFilePath, layerType='solder_mask')) # 1. 合并信号层为 surface mergeSigLay = self.getMergeLay(sigLay) self.tmpLays.append(mergeSigLay) mergeSigLayFilePath = self.ico.getFeatureFile(self.JOB, self.workStep, mergeSigLay) toRead.append(Feature(mergeSigLayFilePath, layerType='signal')) # 2. 添加钻孔层 drlSet = self.getDnxSigLayMapping(sigLay) for drl in drlSet: drlFilePath = self.ico.getFeatureFile(self.JOB, self.workStep, drl) toRead.append(Feature(drlFilePath, layerType='drill')) # === 创建高亮圆圈层 === highlight_layer = "pofv_highlight_circle" if self.ico.IsLayerExist([highlight_layer]): self.ico.DelLayer([highlight_layer]) self.ico.CreateOrEmptyLay(layer_list=[highlight_layer]) # 获取要高亮的孔坐标(只标第一个) if sigLay not in self.sigDimension or not self.sigDimension[sigLay]['point_x']: # 没有坐标,跳过画圈 pass else: x = float(self.sigDimension[sigLay]['point_x'][0]) y = float(self.sigDimension[sigLay]['point_y'][0]) self.ico.ClearLayer() self.ico.DispWork(highlight_layer) self.incam.COM(f"add_pad,symbol=r180,polarity=positive,x={x},y={y},mirror=no,angle=0,direction=ccw,resize=0,xscale=1,yscale=1") self.incam.COM("sel_feat2outline,width=3.0,location=on_edge,offset=0.1,polarity=as_feature,keep_original=no,text2limit=no")# 轮廓线 self.incam.COM("arc2lines,arc_line_tol=1") self.ico.DelLayer(highlight_layer + '+++') self.ico.ClearLayer() # sys.exit(0) # 高亮层也导出为 Gerber Feature self.tmpLays.append(highlight_layer) # 确保后续清理" hlight_path = self.ico.getFeatureFile(self.JOB, self.workStep, highlight_layer) toRead.append(Feature(hlight_path, layerType='signal', strokeColor = "#fcfcf6")) # === 计算尺寸和偏移 === unitSizeX, unitSizeY = self.ico.GetStepSize(self.workStep)[0:2] gbWidth = self.doc.width * 0.6 gbHeigth = self.doc.height * 2 / 3 * 0.6 offsetX = self.getOffsetXY(gbWidth, gbHeigth, unitSizeX, unitSizeY, pagesize=( self.doc.width, self.doc.height * 2 / 3))[0] # 创建绘图对象 g2c = Gerber2Canvas( gbWidth, gbHeigth, unitSizeX, unitSizeY, offsetX, 0.1, Origin.leftdown, self.canvas, toRead, rotate=0 ) # === 添加标注箭头=== dimension = [] if sigLay in self.sigDimension and self.sigDimension[sigLay]['point_x']: pointX = self.sigDimension[sigLay]['point_x'][0] pointY = self.sigDimension[sigLay]['point_y'][0] dimensionSingle = Dimension( x0=unitSizeX / 2, y0=unitSizeY * 1.2, x1=float(pointX), y1=float(pointY), direct=Direct.one_arrow, dist='POFV孔铜厚度测量位置', dimColor="#0400FF", # dimLineColor="#0800FF" # ) dimension.append(dimensionSingle) if dimension: g2c.addDimension(dimension) return g2c @staticmethod def getOffsetXY(gbWidth: float, gbHeight: float, unitSizeX: float, unitSizeY: float, pagesize: tuple = (A4[0], A4[1])): """ 获取使Gerber在PDF中居中显示的偏移量 :param gbWidth: pdf中 gerber宽度 :param gbHeight: pdf中 gerber长度 :param unitSizeX: unit宽 :param unitSizeY: unit长 :param pagesize: PDF宽和长 :return: x,y的偏移量 # 创建绘图对象 g2c = Gerber2Canvas(gbWidth,gbHeight,unitSizeX,unitSizeY,offsetX, offsetY, Origin.leftdown,self.canvas,toRead, rotate=0) """ scale1 = math.ceil(gbWidth / unitSizeX) scale2 = math.ceil(gbHeight / unitSizeY) scale = scale1 if scale1 < scale2 else scale2 offsetX = (pagesize[0] - unitSizeX * scale) / (2 * scale) offsetY = (pagesize[1] - unitSizeY * scale) / (2 * scale) return offsetX, offsetY def __setTemplateParams(self): """设置模板的默认参数""" params = {"layer_side": None, "header": "文档密级:内部公开", } return params def drawBackground(self, canv: ReportCanvas, doc: SimpleDocTemplate): """ 画页眉页脚用的函数 """ num = canv.getPageNumber() if num == 1: face = 'Unit Top side' else: face = 'Unit Bottom side' params = self.drawingParams params["num_page"] = str(num) params['layer_side'] = face bgTemp = DrawingTemplate(canv, A4[0], A4[1], params) bgTemp.parser() if __name__ == "__main__": app = QApplication(sys.argv) analyzer = Dr_POFV_Map() 针对上面这个代码,我尝试debug,在终端输出了以下内容,所以是什么流程情况?又是哪里除了问题? 22222222222222222 11111111111111111111111 22222222222222222 11111111111111111111111 非法语句 : copy_layer, source_job = 301133857e.pov2, source_step = edit, source_layer = int_gtl, dest = layer_name, dest_step =, dest_layer = int_gtl-100, mode = replace, , invert = no, copy_notes = no, copy_attrs = new_layers_only, copy_sr_feat = no 错误提示 : $8007 Field does not exist
12-02
你提供的 Python 脚本是一个用于生成 **POFV(Plated Over Filled Via)孔到孔距离标注图纸** 的 Incam 自动化工具,主要使用了 PyQt5、reportlab 和自定义的 `py39COM` 模块与 Incam 系统交互。 你在终端看到如下输出: ``` 22222222222222222 11111111111111111111111 22222222222222222 11111111111111111111111 非法语句 : copy_layer, source_job = 301133857e.pov2, source_step = edit, source_layer = int_gtl, dest = layer_name, dest_step =, dest_layer = int_gtl-100, mode = replace, , invert = no, copy_notes = no, copy_attrs = new_layers_only, copy_sr_feat = no 错误提示 : $8007 Field does not exist ``` --- ## ✅ 一、流程分析:这些 `print()` 输出代表什么? ### 🔹 `22222222222222222` 和 `11111111111111111111111` 是调试信息 它们来自代码中不同位置的 `print()` 语句,用来标记程序执行路径: ```python # 在尝试“外扩”时打印: print("22222222222222222") # 在尝试“缩小”时打印: print("11111111111111111111111") ``` 从输出顺序看: ``` 22222222222222222 → 外扩分支被执行 11111111111111111111111 → 缩小分支也被执行 ``` 这说明脚本正在对多个信号层进行匹配检测,并在每层都经历了: 1. 先尝试原始 touch → 不成功 2. 尝试外扩 (+100um) → 可能也不成功或部分成功 3. 再尝试缩小 (-100um) → 成功?但随后报错 > ⚠️ 注意:虽然打印了 `111...`,但紧接着就出现语法错误,说明实际 COM 命令未正确执行。 --- ## ❌ 二、关键错误解析 ### 📛 报错内容: ``` 非法语句 : copy_layer, source_job = 301133857e.pov2, source_step = edit, source_layer = int_gtl, dest = layer_name, dest_step =, dest_layer = int_gtl-100, mode = replace, , invert = no, copy_notes = no, copy_attrs = new_layers_only, copy_sr_feat = no 错误提示 : $8007 Field does not exist ``` 这个是典型的 **Incam COM 接口命令语法错误**。 --- ### 🔎 错误原因定位: #### ❗问题出在这行 INCAM 命令中: ```python mode = replace, , ↑ 这里多了一个逗号! ``` 完整命令片段: ```python self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, , invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, shrunk)) ``` 👉 **注意中间这个多余逗号**: ```diff mode = replace, , invert = no ^ 多余的逗号导致字段缺失 ``` 这会导致 Incam 解析失败,认为有一个空字段(empty field),从而抛出: > `$8007 Field does not exist` 这是 Incam 的标准错误码之一,表示命令参数格式不合法 —— 实际上就是语法错误! --- ## ✅ 三、修复方案 修改所有类似 `copy_layer` 的调用,**去掉多余的逗号**。 ### ✅ 正确写法: ```python self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, shrunk)) ``` > ✅ 删除了 `mode = replace, ,` 中的多余逗号。 --- ### 💡 需要检查的所有地方(共约 4 处) | 文件位置 | 是否有该 bug | |--------|------------| | 第一次缩小时 (`shrunk_layer`) | ❌ 存在多余逗号 | | 第二次缩小时 (`shrunk_layer`) | ❌ 同样存在 | | 正面原始/外扩后复制 | ✅ 没有问题(无此结构) | | 背面循环中的复制 | ✅ 没有这个问题 | #### 所以你要改的是这两个地方: ##### 1. 第一个缩小操作(正面) ```python # 错误代码: self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, , invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % (self.JOB, self.workStep, temp, shrunk)) ``` ➡️ 改为: ```python self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % (self.JOB, self.workStep, temp, shrunk)) ``` ##### 2. 第二个缩小操作(背面) ```python shrunk_layer = temp + '-100' ... self.incam.COM( 'copy_layer, source_job = %s, source_step = %s, source_layer = %s, dest = layer_name, ' 'dest_step =, dest_layer = %s, mode = replace, invert = no, copy_notes = no, ' 'copy_attrs = new_layers_only, copy_sr_feat = no' % ( self.JOB, self.workStep, temp, shrunk_layer)) # ← 这里没问题?等等! ``` ⚠️ 等等!这里变量名是 `shrunk_layer`,但是传进去了 `%s`,逻辑上没错,但上面那一处拼写为 `shrunk_layer`,而下面用了 `shrunk`,可能也需统一命名。 不过更严重的问题还是那个**多余的逗号**。请搜索整个文件中所有 `copy_layer` 并检查是否有 `,,` 或 `, ,` 这类冗余分隔符。 --- ## ✅ 四、额外建议优化点 ### 1. 使用 f-string 替代 % 格式化(提高可读性和安全性) ```python cmd = f"copy_layer, source_job={self.JOB}, source_step={self.workStep}, " \ f"source_layer={temp}, dest=layer_name, dest_step=, dest_layer={shrunk}, " \ f"mode=replace, invert=no, copy_notes=no, " \ f"copy_attrs=new_layers_only, copy_sr_feat=no" self.incam.COM(cmd) ``` 避免拼接错误,更容易排查。 --- ### 2. 添加异常捕获和日志记录 ```python try: self.incam.COM(cmd) except Exception as e: print(f"[ERROR] Failed to execute command: {cmd}") print(f"Exception: {e}") raise ``` --- ### 3. 统一临时层命名规则 目前混合使用了: - `int_gtl` - `int_gtl+100` - `int_gtl-100` 建议改为: ```python f"{base}_expanded_100" f"{base}_shrunk_100" ``` 防止 `-` 被误解为减号或非法字符。 --- ## ✅ 五、总结 | 项目 | 内容 | |------|------| | **现象解释** | `111...` 和 `222...` 表示进入缩小/外扩流程;连续出现说明多层处理 | | **根本原因** | `copy_layer` 命令中存在 **多余逗号** 导致语法错误 | | **错误码含义** | `$8007 Field does not exist` = 参数字段缺失或格式错误 | | **解决方案** | 删除 `mode = replace, ,` 中的多余逗号 | | **影响范围** | 至少两处 `copy_layer` 命令受影响 | | **推荐改进** | 改用 f-string、加 try-except、规范临时层命名 | --- ##
评论
成就一亿技术人!
拼手气红包6.0元
还能输入1000个字符
 
红包 添加红包
表情包 插入表情
 条评论被折叠 查看
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值