/*
* Load dense matrix and transpose it.
*/
public static DenseMatrix DenseMatrixTransposeLoader(string DenseMatrixFileName)
{
StreamReader DenseMatrixFile = new StreamReader(DenseMatrixFileName);
// Scan the data file to determine the dimension of the matrix
int nCol = 0;
int nRow = 0;
string StrLine;
while ((StrLine = DenseMatrixFile.ReadLine()) != null)
{
if (nCol == 0)
{
string[] StrLineSplit = StrLine.Split('\t');
nRow = StrLineSplit.Length;
}
++nCol;
}
DenseMatrixFile.Close();
// Load the data and store it into the matrix
DenseMatrix Matrix = new DenseMatrix(nRow, nCol);
DenseMatrixFile = new StreamReader(DenseMatrixFileName);
int IdxCol = 0;
while ((StrLine = DenseMatrixFile.ReadLine()) != null)
{
float[] LoadedColumn = new float[nRow];
string[] StrLineSplit = StrLine.Split('\t');
for (int IdxRow = 0; IdxRow < nRow; ++IdxRow)
{
LoadedColumn[IdxRow] = float.Parse(StrLineSplit[IdxRow]);
}
Matrix.FillColumn(LoadedColumn, IdxCol);
++IdxCol;
}
DenseMatrixFile.Close();
return(Matrix);
}
/// <summary>
/// 读取文件
/// </summary>
/// <param name="FileName"></param>
/// <returns></returns>
private bool ReadFile(string FileName)
{
//参数定义
FileStream fs = null;
StreamReader sr = null;
//每行字符串
string StrLine;
//行数
int LineCount = 0;
//文本中一共多少个字符
int StrCharCount = 0;
int TrajIndex = -1;
int PointType = 0;
try
{
if (FileName == null || !File.Exists(FileName))
{
MessageBox.Show("文件不存在!");
return(false);
}
fs = new FileStream(FileName, FileMode.Open, FileAccess.Read);
sr = new StreamReader(fs); //使用StreamReader类来读取文件
sr.BaseStream.Seek(0, SeekOrigin.Begin);
while ((StrLine = sr.ReadLine()) != null)
{
LineCount++;
StrLine = StrLine.Trim();
if (StrLine == "" || StrLine.IndexOf("//") >= 0)
{
continue;
}
StrCharCount = StrLine.Length;
//读取productname
if (StrLine.IndexOf("PRODUCTID=") >= 0)
{
PublicData.ProductName = StrLine.Substring("PRODUCTID=".Length, StrCharCount - "PRODUCTID=".Length);
}
if (StrLine.IndexOf("PRESET=") >= 0)
{
PublicData.PresetName = StrLine.Substring("PRESET=".Length, StrCharCount - "PRESET=".Length);
}
if (StrLine.IndexOf("TOTALELEMENTS=") >= 0)
{
PublicData.TrajCount = int.Parse(StrLine.Substring("TOTALELEMENTS=".Length, StrCharCount - "TOTALELEMENTS=".Length));
TrajInform = new Traj[PublicData.TrajCount];
}
if (StrLine.IndexOf("=BEGIN") >= 0)
{
TrajIndex++;
PointType = 0;
TrajInform[TrajIndex] = new Traj();
}
//轨迹坐标系
if (StrLine.IndexOf("FRAME=") == 0)
{
string[] Data = (StrLine.Substring("FRAME=".Length, StrCharCount - "FRAME=".Length)).Split(',');
if (Data == null || Data.Length < 6)
{
return(false);
}
Str2double(Data, ref TrajInform[TrajIndex].TrajFrame);
}
//产品坐标系
if (StrLine.IndexOf("RECIPEFRAME=") == 0)
{
string[] Data = (StrLine.Substring("RECIPEFRAME=".Length, StrCharCount - "RECIPEFRAME=".Length)).Split(',');
if (Data == null || Data.Length < 6)
{
return(false);
}
Str2double(Data, ref PublicData.Frame);
}
if (StrLine.IndexOf("HOME=") >= 0)
{
string[] Data = (StrLine.Substring("HOME=".Length, StrCharCount - "HOME=".Length)).Split(',');
if (Data == null || Data.Length < 6)
{
return(false);
}
Str2double(Data, ref PublicData.Home);
}
if (StrLine.IndexOf("TOOL=") >= 0)
{
string[] Data = (StrLine.Substring("TOOL=".Length, StrCharCount - "TOOL=".Length)).Split(',');
if (Data == null || Data.Length < 6)
{
return(false);
}
Str2double(Data, ref PublicData.Tcp);
}
if (StrLine.IndexOf("LASER=OFF") >= 0)
{
PointType = 2;
}
if (StrLine.IndexOf("LASER=ON") >= 0)
{
PointType = 1;
}
if (StrLine.IndexOf("MOVEL=") >= 0)
{
string[] Data = (StrLine.Substring("MOVEL=".Length, StrCharCount - "MOVEL=".Length)).Split(new char[] { ',', '/' });
switch (PointType)
{
//趋近点
case 0:
{
TrajInform[TrajIndex].Beforepoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].BeforePara[TrajInform[TrajIndex].PointCount[PointType]] = new double[2];
Str2double(Data, ref TrajInform[TrajIndex].Beforepoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].BeforePara[TrajInform[TrajIndex].PointCount[PointType]], 6);
TrajInform[TrajIndex].Before[TrajInform[TrajIndex].PointCount[PointType]] = true;
break;
}
//切割点
case 1:
{
TrajInform[TrajIndex].Midpoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].MidPara[TrajInform[TrajIndex].PointCount[PointType]] = new double[4];
Str2double(Data, ref TrajInform[TrajIndex].Midpoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].MidPara[TrajInform[TrajIndex].PointCount[PointType]], 6);
TrajInform[TrajIndex].Mid[TrajInform[TrajIndex].PointCount[PointType]] = false;
break;
}
//切出点
case 2:
{
TrajInform[TrajIndex].Afterpoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].AfterPara[TrajInform[TrajIndex].PointCount[PointType]] = new double[2];
Str2double(Data, ref TrajInform[TrajIndex].Afterpoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].AfterPara[TrajInform[TrajIndex].PointCount[PointType]], 6);
TrajInform[TrajIndex].After[TrajInform[TrajIndex].PointCount[PointType]] = true;
break;
}
}
TrajInform[TrajIndex].PointCount[PointType]++;
}
//
if (StrLine.IndexOf("MOVEC=") >= 0)
{
string[] Data = (StrLine.Substring("MOVEC=".Length, StrCharCount - "MOVEC=".Length)).Split(new char[] { ',', '/' });
if (PointType == 0 || PointType == 2)
{
return(false);
}
TrajInform[TrajIndex].Midpoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].MidMC[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].MidPara[TrajInform[TrajIndex].PointCount[PointType]] = new double[4];
Str2double(Data, ref TrajInform[TrajIndex].Midpoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].MidMC[TrajInform[TrajIndex].PointCount[PointType]], 6);
Str2double(Data, ref TrajInform[TrajIndex].MidPara[TrajInform[TrajIndex].PointCount[PointType]], 12);
TrajInform[TrajIndex].Mid[TrajInform[TrajIndex].PointCount[PointType]] = true;
TrajInform[TrajIndex].PointCount[PointType]++;
}
//movej
if (StrLine.IndexOf("MOVEJ=") >= 0)
{
string[] Data = (StrLine.Substring("MOVEJ=".Length, StrCharCount - "MOVEJ=".Length)).Split(new char[] { ',', '/' });
if (PointType == 1)
{
return(false);
}
switch (PointType)
{
//趋近点
case 0:
{
TrajInform[TrajIndex].Beforepoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].BeforePara[TrajInform[TrajIndex].PointCount[PointType]] = new double[2];
Str2double(Data, ref TrajInform[TrajIndex].Beforepoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].BeforePara[TrajInform[TrajIndex].PointCount[PointType]], 6);
TrajInform[TrajIndex].Before[TrajInform[TrajIndex].PointCount[PointType]] = false;
break;
}
//切出点
case 2:
{
TrajInform[TrajIndex].Afterpoint[TrajInform[TrajIndex].PointCount[PointType]] = new double[6];
TrajInform[TrajIndex].AfterPara[TrajInform[TrajIndex].PointCount[PointType]] = new double[2];
Str2double(Data, ref TrajInform[TrajIndex].Afterpoint[TrajInform[TrajIndex].PointCount[PointType]]);
Str2double(Data, ref TrajInform[TrajIndex].AfterPara[TrajInform[TrajIndex].PointCount[PointType]], 6);
TrajInform[TrajIndex].After[TrajInform[TrajIndex].PointCount[PointType]] = false;
break;
}
}
TrajInform[TrajIndex].PointCount[PointType]++;
}
}
return(true);
}
catch
{
// MessageBox.Show(ex.Message + LineCount.ToString());
return(false);
}
finally
{
if (fs != null)
{
fs.Close();
}
if (sr != null)
{
sr.Close();
}
}
}
// sParseLine()
// Simple parsing, does not check for quotes containing commas, nor trim quotes.
// Converts StrLine to an array as ArrLine
public void sParseLine()
{
ArrLine = StrLine.Split(commaDelim);
}
/*
* Load ParamModel from file
*/
public static paramModel_t ParamModelHyperParamLoader(string ParamModelHyperParamFileName)
{
paramModel_t ParamModel = new paramModel_t();
using (StreamReader ParamModelFile = new StreamReader(ParamModelHyperParamFileName))
{
string StrLine;
while ((StrLine = ParamModelFile.ReadLine()) != null)
{
string[] StrLineSplit = StrLine.Split('\t');
string Key = StrLineSplit[0];
string Val = StrLineSplit[1];
switch (Key)
{
case "nHid":
ParamModel.nHid = int.Parse(Val);
break;
case "nHidLayer":
ParamModel.nHidLayer = int.Parse(Val);
break;
case "To":
ParamModel.To = float.Parse(Val);
break;
case "nOutput":
ParamModel.nOutput = int.Parse(Val);
break;
case "nInput":
ParamModel.nInput = int.Parse(Val);
break;
case "eta":
ParamModel.eta = float.Parse(Val);
break;
case "alpha":
ParamModel.alpha = float.Parse(Val);
break;
case "beta":
ParamModel.beta = float.Parse(Val);
break;
case "T_value":
ParamModel.T_value = float.Parse(Val);
break;
case "OutputType":
ParamModel.OutputType = Val;
break;
default:
throw new Exception("Unknown type of Key in hyperparameter file.");
}
}
ParamModel.T = new float[ParamModel.nHidLayer];
for (int Idx = 0; Idx < ParamModel.T.Length; ++Idx)
{
ParamModel.T[Idx] = ParamModel.T_value;
}
ParamModel.b = new DenseColumnVector(ParamModel.nHid, ParamModel.alpha - 1.0f);
}
return(ParamModel);
}
