274 lines
10 KiB
Python
274 lines
10 KiB
Python
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import socket
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import binascii
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import time
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import threading
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class RelayController:
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def __init__(self, host='192.168.0.18', port=50000):
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self.host = host
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self.port = port
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# 控件映射
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self.CONVEYOR1 = 'conveyor1'
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self.PUSHER = 'pusher'
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self.CONVEYOR2 = 'conveyor2'
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self.CLAMP = 'clamp'
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self.SENSOR1 = 'sensor1'
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self.SENSOR2 = 'sensor2'
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self.valve_commands = {
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self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
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self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
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self.CONVEYOR2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
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self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'}
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}
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self.read_status_command = {
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'devices': '000000000006010100000008',
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'sensors': '000000000006010200000008'
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}
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self.device_bit_map = {
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self.CONVEYOR1: 0,
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self.PUSHER: 1,
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self.CONVEYOR2: 2,
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self.CLAMP: 3,
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}
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self.sensor_bit_map = {
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self.SENSOR1: 0,
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self.SENSOR2: 1,
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}
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self.device_name_map = {
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self.CONVEYOR1: "传送带1",
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self.PUSHER: "推板",
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self.CONVEYOR2: "传送带2",
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self.CLAMP: "机械臂"
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}
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self.sensor_name_map = {
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self.SENSOR1: '位置传感器1',
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self.SENSOR2: '位置传感器2',
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}
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self._running = False
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self._sensor1_thread = None
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self._sensor2_thread = None
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def send_command_old(self, command_hex):
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byte_data = binascii.unhexlify(command_hex)
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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try:
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sock.connect((self.host, self.port))
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sock.send(byte_data)
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response = sock.recv(1024)
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print(f"收到响应: {binascii.hexlify(response)}")
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return response
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except Exception as e:
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print(f"通信错误: {e}")
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return None
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def start_sensor1_only(self):
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if self._running:
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print("线程已经在运行")
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return
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print("启动传感器1监听线程")
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self._running = True
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self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
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self._sensor1_thread.start()
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def send_command(self, command_hex, retry_count=5, source='unknown'):
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byte_data = binascii.unhexlify(command_hex)
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for attempt in range(retry_count):
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try:
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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sock.settimeout(10)
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sock.connect((self.host, self.port))
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sock.send(byte_data)
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response = sock.recv(1024)
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hex_response = binascii.hexlify(response).decode('utf-8')
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# 根据 source 区分响应来源
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if source == 'sensor':
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print(f"[传感器响应] {hex_response}")
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elif source == 'device':
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print(f"[设备控制响应] {hex_response}")
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else:
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print(f"[通信响应] {hex_response}")
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return response
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except Exception as e:
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print(f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
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if attempt == retry_count - 1:
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self.trigger_alarm()
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time.sleep(5)
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return None
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def trigger_alarm(self):
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"""当通信错误超过最大重试次数时触发报警"""
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print("警告：连续多次通信失败，请检查设备连接！")
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# 这里可以添加更多的报警措施，如发送邮件、短信或声音警报等
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def get_all_device_status(self, command_type='devices'):
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command = self.read_status_command.get(command_type)
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if not command:
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print(f"未知的读取类型: {command_type}")
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return {}
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# 设置来源标识
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source = 'sensor' if command_type == 'sensors' else 'device'
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response = self.send_command(command, source=source)
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status_dict = {}
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if response and len(response) >= 10:
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status_byte = response[9]
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status_bin = f"{status_byte:08b}"[::-1]
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bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
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name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
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for key, bit_index in bit_map.items():
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status_dict[key] = status_bin[bit_index] == '1'
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else:
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print(f"[{command_type}] 读取状态失败或响应无效")
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return status_dict
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def get_device_status_old(self, name, command_type='devices'):
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return self.get_all_device_status(command_type).get(name, None)
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def get_device_status(self, name, command_type='devices', stable_duration=1.0, max_attempts=3):
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"""
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获取指定设备/传感器的状态，只有在连续稳定检测到信号后才返回 True。
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参数:
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name (str): 设备/传感器名称，如 SENSOR1
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command_type (str): 类型，'devices' 或 'sensors'
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stable_duration (float): 信号需要稳定的持续时间（秒）
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max_attempts (int): 最大尝试次数（用于稳定性判断）
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返回:
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bool or None: 稳定检测到信号返回 True，否则返回 False 或 None（失败）
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"""
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stable_count = 0
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interval = 0.2 # 每隔多久检查一次
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for _ in range(int(stable_duration / interval)):
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statuses = self.get_all_device_status(command_type)
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status = statuses.get(name)
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if status is True:
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stable_count += 1
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if stable_count >= max_attempts:
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return True
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elif status is False:
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return False
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else:
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# None 表示读取失败
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print(f"[警告] 读取 {name} 状态失败，尝试重试...")
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stable_count = 0
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time.sleep(interval)
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return False # 默认返回 False，避免误触发
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def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False):
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status = self.get_all_device_status()
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if conveyor1 and not status.get(self.CONVEYOR1, False):
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print("打开传送带1")
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self.send_command(self.valve_commands[self.CONVEYOR1]['open'], source='device')
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time.sleep(1)
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if pusher and not status.get(self.PUSHER, False):
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print("打开推板")
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self.send_command(self.valve_commands[self.PUSHER]['open'], source='device')
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time.sleep(0.05)
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if conveyor2 and not status.get(self.CONVEYOR2, False):
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print("打开传送带2")
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self.send_command(self.valve_commands[self.CONVEYOR2]['open'], source='device')
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time.sleep(1)
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if clamp and not status.get(self.CLAMP, False):
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print("启动机械臂抓夹")
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self.send_command(self.valve_commands[self.CLAMP]['open'], source='device')
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time.sleep(0.5)
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def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False):
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status = self.get_all_device_status()
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if conveyor1 and status.get(self.CONVEYOR1, True):
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print("关闭传送带1")
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self.send_command(self.valve_commands[self.CONVEYOR1]['close'], source='device')
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time.sleep(1)
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if pusher and status.get(self.PUSHER, True):
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print("关闭推板")
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self.send_command(self.valve_commands[self.PUSHER]['close'], source='device')
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time.sleep(0.05)
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if conveyor2 and status.get(self.CONVEYOR2, True):
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print("关闭传送带2")
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self.send_command(self.valve_commands[self.CONVEYOR2]['close'], source='device')
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time.sleep(1)
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if clamp and status.get(self.CLAMP, True):
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print("停止机械臂抓夹")
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self.send_command(self.valve_commands[self.CLAMP]['close'], source='device')
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time.sleep(0.5)
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def handle_sensor1(self):
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while self._running:
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try:
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if self.get_device_status(self.SENSOR1, 'sensors'):
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print("SENSOR1 检测到信号，执行流程")
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self.close(conveyor1=True)
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time.sleep(2)
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self.open(pusher=True)
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time.sleep(5)
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self.close(pusher=True)
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time.sleep(2)
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self.open(conveyor1=True)
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time.sleep(0.5)
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except Exception as e:
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print(f"SENSOR1 处理错误: {e}")
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def handle_sensor2(self):
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while self._running:
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try:
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if self.get_device_status(self.SENSOR2, 'sensors'):
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print("SENSOR2 检测到信号，执行流程")
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self.close(conveyor2=True)
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time.sleep(2)
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self.open(clamp=True)
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time.sleep(2)
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self.open(conveyor2=True)
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time.sleep(0.5)
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except Exception as e:
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print(f"SENSOR2 处理错误: {e}")
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def start(self):
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if self._running:
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print("线程已经在运行")
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return
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print("启动传感器线程")
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self._running = True
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self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
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self._sensor2_thread = threading.Thread(target=self.handle_sensor2, daemon=True)
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self._sensor1_thread.start()
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self._sensor2_thread.start()
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def stop(self):
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if not self._running:
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print("线程未在运行")
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return
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print("停止传感器线程")
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self._running = False # 设置标志位为 False
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if self._sensor1_thread is not None:
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self._sensor1_thread.join() # 等待线程结束
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if self._sensor2_thread is not None:
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self._sensor2_thread.join()
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print("传感器线程已终止。")
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