init repo

data_logger.py

@@ -0,0 +1,85 @@
+import csv
+import time
+import os
+import numpy as np
+
+
+class DataLogger:
+    def __init__(self, filename_prefix="dataset"):
+        """
+        初始化日志记录器
+        :param filename_prefix: 文件名前缀，例如 "train_batch"
+        """
+        # 1. 自动创建 data 文件夹，保持项目目录整洁
+        if not os.path.exists('data'):
+            os.makedirs('data')
+            print("[Logger] Created 'data' directory.")
+
+        # 2. 生成带时间戳的文件名，防止覆盖旧数据
+        # 格式: data/dataset_20240105_143022.csv
+        timestamp = time.strftime("%Y%m%d_%H%M%S")
+        self.filename = f"data/{filename_prefix}_{timestamp}.csv"
+
+        # 3. 定义标准表头 (Header) - 对应你的12个力 + 3个构型 + 3个标签
+        # 传感器命名规则: F(手指ID)_U(单元ID)_(Fn/Ft)
+        sensor_headers = []
+        for f in range(3):  # 3个手指
+            for u in range(1, 3):  # 2个单元
+                sensor_headers.append(f"F{f}_U{u}_Fn")
+                sensor_headers.append(f"F{f}_U{u}_Ft")
+
+        # 完整的列名列表
+        self.header = ['Timestamp', 'Config_ID'] + sensor_headers + ['Label_X', 'Label_Y', 'Label_Theta']
+
+        # 4. 创建文件并写入第一行（表头）
+        try:
+            with open(self.filename, mode='w', newline='') as f:
+                writer = csv.writer(f)
+                writer.writerow(self.header)
+            print(f"[Logger] Log file initialized: {self.filename}")
+        except Exception as e:
+            print(f"[Logger] Error creating file: {e}")
+
+    def log(self, sensor_data, config_id, label_vector):
+        """
+        写入一行数据
+        :param sensor_data: 12维 numpy 数组或列表 (触觉数据)
+        :param config_id: 整数 (0, 1, 2) (当前手指构型)
+        :param label_vector: [x, y, theta] (机械臂的真实偏差值)
+        """
+        with open(self.filename, mode='a', newline='') as f:
+            writer = csv.writer(f)
+
+            # 拼接数据: 时间 + ID + 传感器数值 + 标签
+            # time.time() 获取当前精确时间戳
+            row = [f"{time.time():.3f}", int(config_id)] + list(sensor_data) + list(label_vector)
+
+            # 格式化: 将浮点数保留4位小数，节省空间且美观
+            formatted_row = []
+            for item in row:
+                if isinstance(item, float):
+                    formatted_row.append(f"{item:.4f}")
+                else:
+                    formatted_row.append(item)
+
+            writer.writerow(formatted_row)
+
+
+# === 单元测试 (Unit Test) ===
+# 直接运行此文件，测试是否能生成 CSV
+if __name__ == "__main__":
+    print("Testing DataLogger...")
+    logger = DataLogger(filename_prefix="test_data")
+
+    # 模拟写入 5 条假数据
+    for i in range(5):
+        # 模拟 12 个传感器数据 (0-10之间)
+        fake_sensor = np.random.rand(12) * 10
+        # 模拟机械臂偏差 (Label)
+        fake_label = [0.0, 5.5, -2.0]
+
+        logger.log(sensor_data=fake_sensor, config_id=0, label_vector=fake_label)
+        print(f"Logged row {i + 1}")
+        time.sleep(0.1)
+
+    print("Test done. Please check the 'data' folder.")