bgg35-50
This commit is contained in:
218
EMV/EMV.py
218
EMV/EMV.py
@ -4,7 +4,9 @@ import socket
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import binascii
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import time
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import threading
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from datetime import datetime
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import logging
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from typing import Optional
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from PySide6.QtCore import Signal, QObject
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import numpy as np
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from pandas.core.arrays import boolean
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@ -133,6 +135,7 @@ class RelayController(QObject):
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self.sensor2_ready = False #默认不打开
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self.motor_stopped_by_sensor2 = True
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self.is_drop_35=False #是否是35码
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# ===================== 基础通信方法 =====================
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def send_command(self, command_hex, retry_count=2, source='unknown'):
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@ -142,11 +145,15 @@ class RelayController(QObject):
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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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# begin_time=time.time()
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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.settimeout(1)
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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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# end_time=time.time()
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# print(f"({source}) 耗时: {end_time-begin_time:.3f}秒")
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# hex_response = binascii.hexlify(response).decode('utf-8')
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#if source == 'sensor':
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#print(f"[传感器响应] {hex_response}")
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@ -158,7 +165,7 @@ class RelayController(QObject):
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except Exception as e:
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self.log_signal.emit(logging.INFO,f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
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print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
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time.sleep(5)
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time.sleep(1)
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self.trigger_alarm()
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return None
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@ -221,7 +228,7 @@ class RelayController(QObject):
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print(f"[{command_type}] 无法获取响应数据")
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return responses
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def get_emergency_is_pressed(self)->bool:
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def get_emergency_is_pressed(self):
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"获取急停信号，DI 3 位为1，正常，DI 3为0时为按下急停状态，00000000000401020107 后四位01表示一个字节，最后一位（07）二进制对应开关量"
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"按下急停为"
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command = self.read_status_command.get("sensors")
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@ -233,6 +240,7 @@ class RelayController(QObject):
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status_crc=response[8]
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loc_is_pressed =status_crc==1 and (status_byte & 0b100) == 0 # 0b100 表示第三位为1
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else:
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loc_is_pressed=None
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self.log_signal.emit(logging.ERROR,f"网络继电器[急停] 读取状态失败或响应无效")
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print(f"网络继电器[急停] 读取状态失败或响应无效")
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@ -267,6 +275,37 @@ class RelayController(QObject):
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time.sleep(self.sensor1_loop_delay)
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return False
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def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1):
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"""
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检测在指定时间窗口内是否存在持续稳定的有效信号
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参数:
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sensor_name: 传感器名称
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detection_duration: 总检测时间窗口(秒)，默认为3秒
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stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒
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check_interval: 检测间隔(秒)，默认为0.1秒
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返回:
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True: 在时间窗口内检测到持续稳定的有效信号
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False: 未检测到持续稳定的有效信号
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"""
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stable_start_time = None # 记录首次检测到有效信号的时间
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start_time = time.time()
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if not self.is_valid_sensor(sensor_name):
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return False # 传感器状态无效,返回
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else:
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stable_start_time = time.time() # 首次检测到有效信号
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time.sleep(check_interval)
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while time.time() - start_time < detection_duration:
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temp_is_valid = self.is_valid_sensor(sensor_name)
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if temp_is_valid:
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if time.time() - stable_start_time >= stability_duration:
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return True # 信号持续稳定达到要求时间
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else:
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stable_start_time = time.time() # 信号不稳定，重置计时
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time.sleep(check_interval)
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return False
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def is_valid_sensor_status_1(self, sensor_name):
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stable_count = 0
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for _ in range(int(self.sensor_stable_duration / self.sensor2_loop_delay)):
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@ -337,36 +376,110 @@ class RelayController(QObject):
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time.sleep(self.sensor2_loop_lost)
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return False
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def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1):
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def is_valid_sensor_nowait(self,sensor_name):
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"""
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检测在指定时间窗口内是否存在持续稳定的有效信号
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检查传感器状态是否有效,不等待,如果第一次没有信号不等待，有信号一起一秒钟
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参数:
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sensor_name: 传感器名称
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detection_duration: 总检测时间窗口(秒)，默认为3秒
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stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒
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check_interval: 检测间隔(秒)，默认为0.1秒
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返回:
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True: 在时间窗口内检测到持续稳定的有效信号
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False: 未检测到持续稳定的有效信号
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True: 传感器状态有效
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False: 传感器状态无效
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"""
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stable_start_time = None # 记录首次检测到有效信号的时间
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start_time = time.time()
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if not self.is_valid_sensor(sensor_name):
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return False # 传感器状态无效,返回
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else:
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stable_start_time = time.time() # 首次检测到有效信号
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time.sleep(check_interval)
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while time.time() - start_time < detection_duration:
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temp_is_valid = self.is_valid_sensor(sensor_name)
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if temp_is_valid:
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if time.time() - stable_start_time >= stability_duration:
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return True # 信号持续稳定达到要求时间
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stable_count = 0
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_try_nums=5 # 尝试次数
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for _num in range(_try_nums):
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responses = self.get_all_sensor_responses('sensors')
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response = responses.get(sensor_name)
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if not response:
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print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
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return False
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else:
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stable_start_time = None # 信号不稳定，重置计时
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time.sleep(check_interval)
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temp_status_code = self.parse_status_code(response)
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if temp_status_code in self.required_codes_1:
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stable_count += 1
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if stable_count >= 3:
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return True
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else:
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if _num==0:
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#首次没有信号，直接返回
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return False
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else:
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stable_count = 0
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time.sleep(self.sensor2_loop_lost)
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return False
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def is_valid_sensor_stable(self,sensor_name):
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"""
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检查传感器状态是否有效
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参数:
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sensor_name: 传感器名称
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返回:
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True: 传感器状态有效
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False: 传感器状态无效
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"""
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#检测一秒钟，首次没有信号直接返回
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if not self.is_valid_sensor_nowait(sensor_name):
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return False
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#需要增加超时时间，否则会一直等待
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stable_count = 0
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_try_nums=10 # 尝试次数
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for _ in range(_try_nums):
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responses = self.get_all_sensor_responses('sensors')
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response = responses.get(sensor_name)
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if response:
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temp_status_code = self.parse_status_code(response)
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if temp_status_code in self.required_codes_1:
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stable_count += 1
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print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:检测到信号,已检测 {stable_count} 次")
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if stable_count >= 8:
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return True
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else:
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print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:未检测到信号,已检测 {stable_count} 次")
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else:
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print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
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# else:
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# stable_count = 0
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time.sleep(self.sensor2_loop_delay)
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return False
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# def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1):
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# """
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# 检测在指定时间窗口内是否存在持续稳定的有效信号
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# 参数:
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# sensor_name: 传感器名称
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# detection_duration: 总检测时间窗口(秒)，默认为3秒
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# stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒
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# check_interval: 检测间隔(秒)，默认为0.1秒
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# 返回:
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# True: 在时间窗口内检测到持续稳定的有效信号
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# False: 未检测到持续稳定的有效信号
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# """
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# stable_start_time = None # 记录首次检测到有效信号的时间
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# stable_end_time = None # 记录最后检测到有效信号的时间
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# start_time = time.time()
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# if not self.is_valid_sensor_single(sensor_name):
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# return False # 传感器状态无效,返回
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# else:
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# stable_start_time = time.time() # 首次检测到有效信号
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# # stable_end_time = stable_start_time # 最后检测到有效信号
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# time.sleep(check_interval)
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# while time.time() - start_time < detection_duration:
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# #1s时间
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# temp_is_valid = self.is_valid_sensor_single(sensor_name)
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# if temp_is_valid:
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# stable_start_time=time.time()
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# else:
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# stable_start_time = None # 信号不稳定，重置计时
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# # time.sleep(check_interval)
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# if stable_start_time - start_time >= stability_duration:
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# return True # 信号持续稳定达到要求时间
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# else:
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# return False
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# ===================== 动作控制方法 =====================
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def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
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# if Constant.DebugPosition:
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@ -380,7 +493,7 @@ class RelayController(QObject):
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time.sleep(self.delay_pusher)
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if conveyor2:
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self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
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time.sleep(self.delay_conveyor)
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# time.sleep(0.01)
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if clamp:
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self.send_command(self.valve_commands[self.CLAMP]['open'])
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time.sleep(self.delay_clamp)
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@ -409,10 +522,10 @@ class RelayController(QObject):
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time.sleep(self.delay_pusher)
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if conveyor2:
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self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
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time.sleep(self.delay_conveyor)
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#time.sleep(self.delay_conveyor)
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if clamp:
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self.send_command(self.valve_commands[self.CLAMP]['close'])
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time.sleep(self.delay_clamp)
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time.sleep(0.05)
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if pusher1:
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self.send_command(self.valve_commands[self.PUSHER1]['close'])
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time.sleep(self.delay_pusher)
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@ -496,11 +609,18 @@ class RelayController(QObject):
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_is_pause_close=True
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try:
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if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):
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# if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):
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#motor_stopped_by_sensor2=False(在滚动的时候)才去检测信号，否则如果后面的料子
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#有信号了，不会在FPhoto后开滚筒
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if (not self.motor_stopped_by_sensor2) and (_is_signal or self.is_valid_sensor_stable(self.SENSOR2)):
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#检测到信号，如果之前是没有信号，关闭滚筒
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print('检查到sensor2信号')
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#print('检查到sensor2信号')
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if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
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print('检查到sensor2信号消失')
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self.log_signal.emit(logging.INFO,"检查到sensor2信号消失")
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if self.is_drop_35:
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time.sleep(3.5)
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self.open(conveyor2_reverse=True)
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time.sleep(2.5)
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self.close(conveyor2=True)
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#滚筒关闭标志
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self.motor_stopped_by_sensor2 = True
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@ -512,21 +632,23 @@ class RelayController(QObject):
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if self.sensor2_ready:
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#只有在FPhoto处才有效
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_is_signal=True
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if self.motor_stopped_by_sensor2:
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print('开滚筒')
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self.open(conveyor2=True)
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self.motor_stopped_by_sensor2 = False
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# if self.motor_stopped_by_sensor2:
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# self.log_signal.emit(logging.INFO,"开滚筒2")
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# print('开滚筒2开滚筒2开滚筒2开滚筒2')
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# self.open(conveyor2=True)
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# self.motor_stopped_by_sensor2 = False
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# time.sleep(0.1)
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time.sleep(0.01)
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continue
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elif self.sensor2_ready:
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#sensor2_ready:通过Feeding:FPhoto处控制是否启动
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if self.motor_stopped_by_sensor2:
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print('开滚筒')
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self.log_signal.emit(logging.INFO,"开滚筒1")
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print('开滚筒1开滚筒1开滚筒1开滚筒1')
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self.open(conveyor2=True)
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self.motor_stopped_by_sensor2 = False
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time.sleep(2)
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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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self.log_signal.emit(logging.ERROR,f"SENSOR2 处理错误: {e}")
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@ -546,6 +668,13 @@ class RelayController(QObject):
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"""开启皮带"""
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self.open(belt=True)
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def set_drop_35(self,is_drop_35):
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"""
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设置是否是35码
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is_drop_35:True是，False否
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"""
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self.is_drop_35=is_drop_35
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def stop_sensor(self,sensor1_thread,sensor2_thread):
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if not self._running:
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@ -561,12 +690,15 @@ class RelayController(QObject):
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def handle_emergency_pressed(self):
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"处理急停按钮信号状态线程"
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print('检查急停按钮状态1')
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#print('检查急停按钮状态1')
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while self._running:
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try:
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print('检查急停按钮状态')
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#print('检查急停按钮状态')
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loc_is_pressed =self.get_emergency_is_pressed()
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if loc_is_pressed is None:
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time.sleep(0.5)
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continue
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if loc_is_pressed:
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# 处理急停按钮信号状态
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if not self.emergency_is_pressed:
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@ -575,11 +707,11 @@ class RelayController(QObject):
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self.emergency_is_pressed=True
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self.emergency_signal.emit(True)
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else:
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print('急停按钮未被按下')
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#print('急停按钮未被按下')
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self.emergency_is_pressed=False
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self.emergency_signal.emit(False)
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time.sleep(0.5)
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except Exception as e:
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print(f"急停 处理错误: {e}")
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self.log_signal.emit(logging.ERROR,f"急停线程 处理错误: {e}")
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time.sleep(2)
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time.sleep(1)
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412
EMV/EMV_HC.py
Normal file
412
EMV/EMV_HC.py
Normal file
@ -0,0 +1,412 @@
|
||||
import socket
|
||||
import binascii
|
||||
import time
|
||||
from datetime import datetime
|
||||
import logging
|
||||
|
||||
class RelayController:
|
||||
"""
|
||||
测试传感器2信号情况
|
||||
"""
|
||||
def __init__(self, host='192.168.0.18', port=50000):
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||||
super().__init__()
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||||
# ===================== 全局线程延时参数 =====================
|
||||
self.sensor1_loop_delay = 0.1 # SENSOR1 线程轮询间隔（秒）
|
||||
self.sensor1_error_delay = 1.0 # SENSOR1 出错或暂停时延时（秒）
|
||||
self.sensor1_post_action_delay = 0.2 # SENSOR1 每次循环后延时（秒）
|
||||
|
||||
self.sensor2_loop_delay = 0.2 # SENSOR2 线程轮询间隔（秒）
|
||||
self.sensor2_loop_lost=0.1 # SENSOR2 线程轮询间隔（秒）
|
||||
# self.sensor2_loop_delay = 0.5 # SENSOR2 线程轮询间隔（秒）
|
||||
self.sensor2_error_delay = 0.5 # SENSOR2 出错时延时（秒）
|
||||
self.sensor2_post_action_delay = 0.2 # SENSOR2 每次循环后延时（秒）
|
||||
# ===================== 全局动作延时参数 =====================
|
||||
self.delay_conveyor = 0.5 # 传送带开/关动作延时（一半时间，我在控制程序和线程都加了一样的延时）
|
||||
self.delay_pusher = 0.05 # 推板开/关动作延时
|
||||
self.delay_clamp = 0.5 # 夹爪动作延时
|
||||
self.delay_after_pusher = 5.0 # 推板推出后到重启传动带时间
|
||||
|
||||
self.emergency_is_pressed=False
|
||||
|
||||
# ===================== 传感器稳定检测参数 =====================
|
||||
self.sensor_stable_duration = 1.0 # 传感器状态稳定检测时间（秒）
|
||||
self.sensor_max_attempts = 3 # 连续检测次数达到此值判定有效
|
||||
self.sensor1_debounce_time = 1.0 # 传感器1防抖时间（秒）
|
||||
|
||||
# ===================== 网络与设备映射 =====================
|
||||
self.host = host
|
||||
self.port = port
|
||||
|
||||
self.CONVEYOR1 = 'conveyor1'
|
||||
self.PUSHER = 'pusher'
|
||||
self.CONVEYOR2 = 'conveyor2'
|
||||
self.CONVEYOR2_REVERSE = 'conveyor2_reverse'
|
||||
self.CLAMP = 'clamp'
|
||||
self.PUSHER1 = 'pusher1'
|
||||
self.SENSOR1 = 'sensor1'
|
||||
self.SENSOR2 = 'sensor2'
|
||||
self.BELT = 'belt'
|
||||
self.ALARM = 'alarm'
|
||||
self.BLOW_SENSOR2 = 'blow_sensor2'
|
||||
|
||||
self.valve_commands = {
|
||||
#包装机皮带
|
||||
self.CONVEYOR1: {'open': '000000000006010500070000', 'close': '00000000000601050007FF00'},
|
||||
# self.CONVEYOR11: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
|
||||
self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
|
||||
#滚筒，2000 0012正转，2000 0022 2001变频器频率调整 2000正反转。
|
||||
self.CONVEYOR2: {'open': '000100000006020620000012', 'close': '000100000006020620000001'},
|
||||
#DO4
|
||||
self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
|
||||
#DO5 回 DO2推
|
||||
self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'},
|
||||
#D07 长皮带
|
||||
self.BELT: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'},
|
||||
#D01 声控报警
|
||||
self.ALARM: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
|
||||
#DO6 吹传感器2
|
||||
self.BLOW_SENSOR2: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
|
||||
#滚筒反转
|
||||
self.CONVEYOR2_REVERSE: {'open': '000100000006020620000022', 'close': '000100000006020620000001'}
|
||||
}
|
||||
|
||||
#devices:读取继点器的状态
|
||||
#sensors 传感器的状态 D12
|
||||
self.read_status_command = {
|
||||
'devices': '000000000006010100000008',
|
||||
'sensors': '000000000006010200000008'
|
||||
}
|
||||
|
||||
self.device_bit_map = {
|
||||
self.CONVEYOR1: 0,
|
||||
self.PUSHER: 1,
|
||||
self.CONVEYOR2: 2,
|
||||
self.CLAMP: 3,
|
||||
self.PUSHER1: 4,
|
||||
self.CONVEYOR2_REVERSE: 5,
|
||||
self.BELT: 6,
|
||||
self.ALARM: 7,
|
||||
#self.BLOW_SENSOR2: 8
|
||||
}
|
||||
|
||||
self.sensor_bit_map = {
|
||||
self.SENSOR1: 0,
|
||||
self.SENSOR2: 1,
|
||||
}
|
||||
|
||||
self.device_name_map = {
|
||||
self.CONVEYOR1: "包装机皮带",
|
||||
self.PUSHER: "推板开",
|
||||
self.CONVEYOR2: "滚筒",
|
||||
self.CLAMP: "机械臂夹爪",
|
||||
self.PUSHER1: "推板关",
|
||||
self.CONVEYOR2_REVERSE: "滚筒反转",
|
||||
self.BELT: "皮带",
|
||||
self.ALARM: "声控报警",
|
||||
self.BLOW_SENSOR2: "吹传感器2"
|
||||
}
|
||||
|
||||
self.sensor_name_map = {
|
||||
self.SENSOR1: '位置传感器1',
|
||||
self.SENSOR2: '位置传感器2',
|
||||
}
|
||||
|
||||
# ===================== 状态控制变量 =====================
|
||||
self._running = False #线程运行标识
|
||||
self._ispause = False #线程暂停标识
|
||||
self._sensor1_thread = None
|
||||
self._sensor2_thread = None
|
||||
|
||||
self.required_codes = {'0101', '0103','0105','0107'} # 有效状态码（传感器1）
|
||||
self.required_codes_1 = {'0102', '0103','0106','0107'} # 有效状态码（传感器2）
|
||||
|
||||
self.sensor1_triggered = False
|
||||
self.sensor1_last_time = 0
|
||||
|
||||
self.sensor2_ready = False #默认不打开
|
||||
self.motor_stopped_by_sensor2 = True
|
||||
|
||||
# ===================== 基础通信方法 =====================
|
||||
def send_command(self, command_hex, retry_count=2, source='unknown'):
|
||||
byte_data = binascii.unhexlify(command_hex)
|
||||
for attempt in range(retry_count):
|
||||
try:
|
||||
# begin_time=time.time()
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
|
||||
sock.settimeout(1)
|
||||
sock.connect((self.host, self.port))
|
||||
sock.send(byte_data)
|
||||
response = sock.recv(1024)
|
||||
|
||||
# end_time=time.time()
|
||||
# print(f"({source}) 耗时: {end_time-begin_time:.3f}秒")
|
||||
# hex_response = binascii.hexlify(response).decode('utf-8')
|
||||
#if source == 'sensor':
|
||||
#print(f"[传感器响应] {hex_response}")
|
||||
#elif source == 'device':
|
||||
#print(f"[设备控制响应] {hex_response}")
|
||||
#else:
|
||||
#print(f"[通信响应] {hex_response}")
|
||||
return response
|
||||
except Exception as e:
|
||||
self.log_signal.emit(logging.INFO,f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
|
||||
print(f"网络继电器通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
|
||||
time.sleep(1)
|
||||
self.trigger_alarm()
|
||||
return None
|
||||
|
||||
def trigger_alarm(self):
|
||||
self.log_signal.emit(logging.ERROR,"警告：网络继电器连续多次通信失败，请检查设备连接！")
|
||||
print("警告：网络继电器连续多次通信失败，请检查设备连接！")
|
||||
|
||||
# ===================== 状态读取方法 =====================
|
||||
def get_all_device_status(self, command_type='devices'):
|
||||
# if Constant.DebugPosition:
|
||||
# return {self.SENSOR2:True}
|
||||
command = self.read_status_command.get(command_type)
|
||||
if not command:
|
||||
print(f"未知的网络继电器读取类型: {command_type}")
|
||||
return {}
|
||||
|
||||
source = 'sensor' if command_type == 'sensors' else 'device'
|
||||
response = self.send_command(command, source=source)
|
||||
status_dict = {}
|
||||
|
||||
if response and len(response) >= 10:
|
||||
status_byte = response[9]
|
||||
status_bin = f"{status_byte:08b}"[::-1]
|
||||
bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
|
||||
# name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
|
||||
|
||||
for key, bit_index in bit_map.items():
|
||||
status_dict[key] = status_bin[bit_index] == '1'
|
||||
else:
|
||||
print(f"网络继电器[{command_type}] 读取状态失败或响应无效")
|
||||
|
||||
return status_dict
|
||||
|
||||
def get_all_sensor_responses(self, command_type='sensors'):
|
||||
"""
|
||||
获取所有传感器的原始 Modbus 响应字符串
|
||||
示例：{'sensor1': '00000000000401020101', 'sensor2': '00000000000401020100'}
|
||||
"""
|
||||
command = self.read_status_command.get(command_type)
|
||||
if not command:
|
||||
print(f"未知的读取类型: {command_type}")
|
||||
return {}
|
||||
|
||||
source = 'sensor' if command_type == 'sensors' else 'device'
|
||||
response = self.send_command(command, source=source)
|
||||
responses = {}
|
||||
|
||||
if response and len(response) >= 10:
|
||||
hex_response = binascii.hexlify(response).decode('utf-8')
|
||||
# print(f"[原始响应][{command_type}] {hex_response}")
|
||||
|
||||
# 假设传感器数据从第 9 字节开始，长度为 2 字节
|
||||
for name, bit_index in self.sensor_bit_map.items():
|
||||
offset = 9 + (bit_index // 8)
|
||||
bit_pos = bit_index % 8
|
||||
byte = response[offset]
|
||||
status = (byte >> bit_pos) & 1
|
||||
responses[name] = hex_response
|
||||
else:
|
||||
print(f"[{command_type}] 无法获取响应数据")
|
||||
return responses
|
||||
|
||||
def parse_status_code(self, response):
|
||||
"""
|
||||
从 Modbus 响应字符串中提取状态码（后两位）
|
||||
示例：00000000000401020101 -> '01'
|
||||
"""
|
||||
if isinstance(response, str) and len(response) >= 18:
|
||||
return response[16:20]
|
||||
return None
|
||||
|
||||
def is_valid_sensor_status(self, sensor_name):
|
||||
stable_count = 0
|
||||
for _ in range(int(self.sensor_stable_duration / self.sensor1_loop_delay)):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
stable_count = 0
|
||||
else:
|
||||
status_code = self.parse_status_code(response)
|
||||
if status_code in self.required_codes:
|
||||
stable_count += 1
|
||||
if stable_count >= self.sensor_max_attempts:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
time.sleep(self.sensor1_loop_delay)
|
||||
return False
|
||||
|
||||
def is_valid_sensor_signal_stable(self, sensor_name, detection_duration=3.0, stability_duration=2.5, check_interval=0.1):
|
||||
"""
|
||||
检测在指定时间窗口内是否存在持续稳定的有效信号
|
||||
参数:
|
||||
sensor_name: 传感器名称
|
||||
detection_duration: 总检测时间窗口(秒)，默认为3秒
|
||||
stability_duration: 信号需要持续稳定的时间(秒)，默认为2.5秒
|
||||
check_interval: 检测间隔(秒)，默认为0.1秒
|
||||
|
||||
返回:
|
||||
True: 在时间窗口内检测到持续稳定的有效信号
|
||||
False: 未检测到持续稳定的有效信号
|
||||
"""
|
||||
stable_start_time = None # 记录首次检测到有效信号的时间
|
||||
start_time = time.time()
|
||||
if not self.is_valid_sensor(sensor_name):
|
||||
return False # 传感器状态无效,返回
|
||||
else:
|
||||
stable_start_time = time.time() # 首次检测到有效信号
|
||||
time.sleep(check_interval)
|
||||
|
||||
while time.time() - start_time < detection_duration:
|
||||
temp_is_valid = self.is_valid_sensor(sensor_name)
|
||||
if temp_is_valid:
|
||||
if time.time() - stable_start_time >= stability_duration:
|
||||
return True # 信号持续稳定达到要求时间
|
||||
else:
|
||||
stable_start_time = time.time() # 信号不稳定，重置计时
|
||||
time.sleep(check_interval)
|
||||
return False
|
||||
|
||||
def is_valid_sensor_status_1(self, sensor_name):
|
||||
stable_count = 0
|
||||
for _ in range(int(self.sensor_stable_duration / self.sensor2_loop_delay)):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
stable_count = 0
|
||||
else:
|
||||
status_code = self.parse_status_code(response)
|
||||
if status_code in self.required_codes_1:
|
||||
stable_count += 1
|
||||
if stable_count >= self.sensor_max_attempts:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
time.sleep(self.sensor2_loop_delay)
|
||||
return False
|
||||
|
||||
def is_valid_sensor2_status_lost(self, sensor_name):
|
||||
stable_count = 0
|
||||
_try_nums=5 # 尝试次数
|
||||
for _ in range(_try_nums):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
stable_count = 0
|
||||
else:
|
||||
status_code = self.parse_status_code(response)
|
||||
if status_code not in self.required_codes_1:
|
||||
stable_count += 1
|
||||
if stable_count >= self.sensor_max_attempts:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
time.sleep(self.sensor2_loop_lost)
|
||||
return False
|
||||
|
||||
def is_valid_sensor(self,sensor_name):
|
||||
"""
|
||||
检查传感器状态是否有效
|
||||
参数:
|
||||
sensor_name: 传感器名称
|
||||
返回:
|
||||
True: 传感器状态有效
|
||||
False: 传感器状态无效
|
||||
"""
|
||||
stable_count = 0
|
||||
_try_nums=5 # 尝试次数
|
||||
for _ in range(_try_nums):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
return False
|
||||
else:
|
||||
temp_status_code = self.parse_status_code(response)
|
||||
if temp_status_code in self.required_codes_1:
|
||||
stable_count += 1
|
||||
if stable_count >= 3:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
time.sleep(self.sensor2_loop_lost)
|
||||
return False
|
||||
|
||||
def is_valid_sensor_stable(self,sensor_name):
|
||||
"""
|
||||
检查传感器状态是否有效
|
||||
参数:
|
||||
sensor_name: 传感器名称
|
||||
返回:
|
||||
True: 传感器状态有效
|
||||
False: 传感器状态无效
|
||||
"""
|
||||
if not self.is_valid_sensor(sensor_name):
|
||||
return False
|
||||
#需要增加超时时间，否则会一直等待
|
||||
stable_count = 0
|
||||
_try_nums=10 # 尝试次数
|
||||
for _ in range(_try_nums):
|
||||
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
if response:
|
||||
temp_status_code = self.parse_status_code(response)
|
||||
if temp_status_code in self.required_codes_1:
|
||||
stable_count += 1
|
||||
print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:检测到信号,已检测 {stable_count} 次")
|
||||
if stable_count >= 8:
|
||||
return True
|
||||
else:
|
||||
print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:未检测到信号,已检测 {stable_count} 次")
|
||||
else:
|
||||
print(f"{datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]}:[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
# else:
|
||||
# stable_count = 0
|
||||
time.sleep(self.sensor2_loop_delay)
|
||||
return False
|
||||
|
||||
if __name__ == "__main__":
|
||||
# logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
|
||||
# 配置日志同时输出到控制台与文件
|
||||
log_formatter = logging.Formatter('%(asctime)s - %(levelname)s - %(message)s')
|
||||
file_handler = logging.FileHandler('relay_controller.log', encoding='utf-8')
|
||||
file_handler.setLevel(logging.INFO)
|
||||
file_handler.setFormatter(log_formatter)
|
||||
|
||||
console_handler = logging.StreamHandler()
|
||||
console_handler.setLevel(logging.INFO)
|
||||
console_handler.setFormatter(log_formatter)
|
||||
|
||||
logger = logging.getLogger()
|
||||
logger.setLevel(logging.INFO)
|
||||
logger.addHandler(file_handler)
|
||||
logger.addHandler(console_handler)
|
||||
|
||||
relay_controller = RelayController()
|
||||
_count=0
|
||||
while True:
|
||||
responses = relay_controller.get_all_sensor_responses('sensors')
|
||||
response = responses.get('sensor2')
|
||||
if response:
|
||||
temp_status_code = relay_controller.parse_status_code(response)
|
||||
if temp_status_code in relay_controller.required_codes_1:
|
||||
_count+=1
|
||||
logger.info(f"检测到信号,连续 {_count} 次")
|
||||
else:
|
||||
_count=0
|
||||
logger.info(f"未检测到信号")
|
||||
else:
|
||||
logger.info(f"[警告] 无法获取响应")
|
||||
time.sleep(0.2)
|
||||
@ -1,401 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import socket
|
||||
import binascii
|
||||
import time
|
||||
import threading
|
||||
import logging
|
||||
from PySide6.QtCore import Signal, QObject
|
||||
import numpy as np
|
||||
|
||||
class RelayController:
|
||||
need_origin_signal = Signal(str)
|
||||
take_no_photo_sigal = Signal()
|
||||
update_detect_image = Signal(np.ndarray)
|
||||
log_signal = Signal(int, str)
|
||||
def __init__(self, host='192.168.0.18', port=50000):
|
||||
self.host = host
|
||||
self.port = port
|
||||
# 控件映射
|
||||
self.CONVEYOR1 = 'conveyor1'
|
||||
self.PUSHER = 'pusher'
|
||||
self.CONVEYOR2 = 'conveyor2'
|
||||
self.CLAMP = 'clamp'
|
||||
self.PUSHER1 = 'pusher1'
|
||||
self.SENSOR1 = 'sensor1'
|
||||
self.SENSOR2 = 'sensor2'
|
||||
|
||||
self.valve_commands = {
|
||||
self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
|
||||
self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
|
||||
#self.CONVEYOR2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
|
||||
self.CONVEYOR2: {'open': '000100000006020620000012', 'close': '000100000006020620000001'},
|
||||
self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
|
||||
self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}#
|
||||
}
|
||||
|
||||
self.read_status_command = {
|
||||
'devices': '000000000006010100000008',
|
||||
'sensors': '000000000006010200000008'
|
||||
}
|
||||
|
||||
|
||||
self.device_bit_map = {
|
||||
self.CONVEYOR1: 0,
|
||||
self.PUSHER: 1,
|
||||
self.CONVEYOR2: 2,
|
||||
self.CLAMP: 3,
|
||||
self.PUSHER1: 4,
|
||||
}
|
||||
|
||||
self.sensor_bit_map = {
|
||||
self.SENSOR1: 0,
|
||||
self.SENSOR2: 1,#
|
||||
}
|
||||
|
||||
self.device_name_map = {
|
||||
self.CONVEYOR1: "传送带1",
|
||||
self.PUSHER: "推板开",
|
||||
self.CONVEYOR2: "传送带2",
|
||||
self.CLAMP: "机械臂夹爪",
|
||||
self.PUSHER1: "推板关",
|
||||
}
|
||||
|
||||
self.sensor_name_map = {
|
||||
self.SENSOR1: '位置传感器1',
|
||||
self.SENSOR2: '位置传感器2',
|
||||
}
|
||||
|
||||
# 传感器状态变量
|
||||
self._running = False
|
||||
self._sensor1_thread = None
|
||||
self._sensor2_thread = None
|
||||
|
||||
# 配置项
|
||||
self.required_codes = {'0101', '0103'} # 有效状态码
|
||||
self.required_codes_1 = { '0102', '0103'} # 有效状态码（需要修改）
|
||||
self.stable_duration = 1.0 # 稳定检测时间（秒）
|
||||
self.max_attempts = 3 # 连续检测次数
|
||||
self.poll_interval = 0.2 # 检测间隔
|
||||
|
||||
# 状态锁和防抖
|
||||
self.sensor1_triggered = False
|
||||
self.sensor1_last_time = 0
|
||||
self.sensor1_debounce = 2.0
|
||||
|
||||
# 传感器2状态变量
|
||||
self.sensor2_ready = True
|
||||
self.motor_stopped_by_sensor2 = False
|
||||
|
||||
def send_command(self, command_hex, retry_count=2, source='unknown'):
|
||||
byte_data = binascii.unhexlify(command_hex)
|
||||
for attempt in range(retry_count):
|
||||
try:
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
|
||||
sock.settimeout(10)
|
||||
sock.connect((self.host, self.port))
|
||||
sock.send(byte_data)
|
||||
response = sock.recv(1024)
|
||||
hex_response = binascii.hexlify(response).decode('utf-8')
|
||||
#if source == 'sensor':
|
||||
#print(f"[传感器响应] {hex_response}")
|
||||
#elif source == 'device':
|
||||
#print(f"[设备控制响应] {hex_response}")
|
||||
#else:
|
||||
#print(f"[通信响应] {hex_response}")
|
||||
return response
|
||||
except Exception as e:
|
||||
print(f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
|
||||
time.sleep(5)
|
||||
self.trigger_alarm()
|
||||
return None
|
||||
|
||||
def trigger_alarm(self):
|
||||
print("警告：连续多次通信失败，请检查设备连接！")
|
||||
|
||||
def get_all_device_status(self, command_type='devices'):
|
||||
command = self.read_status_command.get(command_type)
|
||||
if not command:
|
||||
print(f"未知的读取类型: {command_type}")
|
||||
return {}
|
||||
|
||||
source = 'sensor' if command_type == 'sensors' else 'device'
|
||||
response = self.send_command(command, source=source)
|
||||
status_dict = {}
|
||||
|
||||
if response and len(response) >= 10:
|
||||
status_byte = response[9]
|
||||
status_bin = f"{status_byte:08b}"[::-1]
|
||||
|
||||
bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
|
||||
name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
|
||||
|
||||
for key, bit_index in bit_map.items():
|
||||
status_dict[key] = status_bin[bit_index] == '1'
|
||||
else:
|
||||
print(f"[{command_type}] 读取状态失败或响应无效")
|
||||
|
||||
return status_dict
|
||||
|
||||
def get_all_sensor_responses(self, command_type='sensors'):
|
||||
"""
|
||||
获取所有传感器的原始 Modbus 响应字符串
|
||||
示例：{'sensor1': '00000000000401020101', 'sensor2': '00000000000401020100'}
|
||||
"""
|
||||
command = self.read_status_command.get(command_type)
|
||||
if not command:
|
||||
print(f"未知的读取类型: {command_type}")
|
||||
return {}
|
||||
|
||||
source = 'sensor' if command_type == 'sensors' else 'device'
|
||||
response = self.send_command(command, source=source)
|
||||
responses = {}
|
||||
|
||||
if response and len(response) >= 10:
|
||||
hex_response = binascii.hexlify(response).decode('utf-8')
|
||||
print(f"[原始响应][{command_type}] {hex_response}")
|
||||
|
||||
# 假设传感器数据从第 9 字节开始，长度为 2 字节
|
||||
for name, bit_index in self.sensor_bit_map.items():
|
||||
offset = 9 + (bit_index // 8)
|
||||
bit_pos = bit_index % 8
|
||||
byte = response[offset]
|
||||
status = (byte >> bit_pos) & 1
|
||||
responses[name] = hex_response
|
||||
else:
|
||||
print(f"[{command_type}] 无法获取响应数据")
|
||||
return responses
|
||||
|
||||
def parse_status_code(self, response):
|
||||
"""
|
||||
从 Modbus 响应字符串中提取状态码（后两位）
|
||||
示例：00000000000401020101 -> '01'
|
||||
"""
|
||||
if isinstance(response, str) and len(response) >= 18:
|
||||
return response[16:20]
|
||||
return None
|
||||
|
||||
def is_valid_sensor_status(self, sensor_name: object) -> object:
|
||||
"""
|
||||
检查传感器是否在稳定时间内连续返回有效状态码（01 或 03）
|
||||
"""
|
||||
stable_count = 0
|
||||
for _ in range(int(self.stable_duration / self.poll_interval)):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
stable_count = 0
|
||||
else:
|
||||
status_code = self.parse_status_code(response)
|
||||
if status_code in self.required_codes:
|
||||
stable_count += 1
|
||||
if stable_count >= self.max_attempts:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
print(f"[警告] {sensor_name} 状态码无效: {status_code}")
|
||||
time.sleep(self.poll_interval)
|
||||
return False
|
||||
|
||||
def is_valid_sensor_status_1(self, sensor_name: object) -> object:
|
||||
"""
|
||||
检查传感器是否在稳定时间内连续返回有效状态码（01 或 03）
|
||||
"""
|
||||
stable_count = 0
|
||||
for _ in range(int(self.stable_duration / self.poll_interval)):
|
||||
responses = self.get_all_sensor_responses('sensors')
|
||||
response = responses.get(sensor_name)
|
||||
|
||||
if not response:
|
||||
print(f"[警告] 无法获取 {sensor_name} 的响应，尝试重试...")
|
||||
stable_count = 0
|
||||
else:
|
||||
status_code = self.parse_status_code(response)
|
||||
if status_code in self.required_codes_1:
|
||||
stable_count += 1
|
||||
if stable_count >= self.max_attempts:
|
||||
return True
|
||||
else:
|
||||
stable_count = 0
|
||||
print(f"[警告] {sensor_name} 状态码无效: {status_code}")
|
||||
time.sleep(self.poll_interval)
|
||||
return False
|
||||
|
||||
|
||||
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False):
|
||||
status = self.get_all_device_status()
|
||||
if conveyor1 and not status.get(self.CONVEYOR1, False):
|
||||
print("打开传送带1")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR1]['open'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if pusher and not status.get(self.PUSHER, False):
|
||||
print("打开推板")
|
||||
self.send_command(self.valve_commands[self.PUSHER]['open'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
if conveyor2 and not status.get(self.CONVEYOR2, False):
|
||||
print("打开传送带2")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR2]['open'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if clamp and not status.get(self.CLAMP, False):
|
||||
print("启动机械臂抓夹")
|
||||
self.send_command(self.valve_commands[self.CLAMP]['open'], source='device')
|
||||
time.sleep(0.5)
|
||||
|
||||
if pusher1 and not status.get(self.PUSHER1, False):
|
||||
print("关闭推板")
|
||||
self.send_command(self.valve_commands[self.PUSHER1]['open'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
|
||||
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False):
|
||||
status = self.get_all_device_status()
|
||||
if conveyor1 :
|
||||
#if conveyor1 and status.get(self.CONVEYOR1, True):
|
||||
print("关闭传送带1")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR1]['close'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if pusher :
|
||||
#if pusher and status.get(self.PUSHER, True):
|
||||
print("关闭推板")
|
||||
self.send_command(self.valve_commands[self.PUSHER]['close'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
if conveyor2 :
|
||||
#if conveyor2 and status.get(self.CONVEYOR2, True):
|
||||
print("关闭传送带2")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR2]['close'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if clamp :
|
||||
#if clamp and status.get(self.CLAMP, True):
|
||||
print("停止机械臂抓夹")
|
||||
self.send_command(self.valve_commands[self.CLAMP]['close'], source='device')
|
||||
time.sleep(0.5)
|
||||
|
||||
if pusher1 :
|
||||
#if pusher and status.get(self.PUSHER1, True):
|
||||
print("关闭推板_1")
|
||||
self.send_command(self.valve_commands[self.PUSHER1]['close'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
def handle_sensor1(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 检查传感器是否返回有效状态码（01 或 03）
|
||||
if self.is_valid_sensor_status(self.SENSOR1):
|
||||
current_time = time.time()
|
||||
# 判断是否已触发 或 是否在防抖时间内
|
||||
if not self.sensor1_triggered and (current_time - self.sensor1_last_time) > self.sensor1_debounce:
|
||||
print("✅ SENSOR1 检测到有效信号，开始执行推料流程")
|
||||
# 标记已触发，防止重复执行
|
||||
self.sensor1_triggered = True
|
||||
self.sensor1_last_time = current_time
|
||||
# 1. 停止包装机皮带电机（关闭）
|
||||
self.close(conveyor1=True)
|
||||
time.sleep(0.5)
|
||||
# 2. 推板开启
|
||||
self.open(pusher=True)
|
||||
time.sleep(0.1)
|
||||
self.close(pusher=True)
|
||||
# 2结束
|
||||
time.sleep(3) # 保持 3 秒
|
||||
# 3. 包装机皮带电机开启
|
||||
self.open(conveyor1=True)
|
||||
time.sleep(0.5)
|
||||
# 4. 推板关闭
|
||||
#self.close(pusher=True)
|
||||
self.open(pusher1=True)
|
||||
time.sleep(0.1)
|
||||
self.close(pusher1=True)
|
||||
time.sleep(1)
|
||||
# 5. 状态检查（可选）
|
||||
status = self.get_all_device_status()
|
||||
if status.get('conveyor1') and not status.get('pusher'):
|
||||
print("🟢流程完成1：皮带运行中，推板已收回")
|
||||
else:
|
||||
print("⚠️ 状态异常，请检查设备")
|
||||
# 流程结束，重置触发标志
|
||||
self.sensor1_triggered = False
|
||||
# 如果传感器无效，确保触发标志可重置（可选）
|
||||
time.sleep(0.2)
|
||||
|
||||
except Exception as e:
|
||||
print(f"SENSOR1 处理错误: {e}")
|
||||
self.sensor1_triggered = False
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
#传感器2检测到料包 → 立即停止 conveyor2」这个逻辑 放在传感器线程中处理
|
||||
def handle_sensor2(self):
|
||||
while self._running:
|
||||
try:
|
||||
# 检测传感器2状态
|
||||
#self.sensor2_ready = None
|
||||
if self.is_valid_sensor_status_1(self.SENSOR2):
|
||||
print("✅ SENSOR2 检测到有效信号，开始执行关闭滚筒电机流程")
|
||||
if not self.sensor2_ready:
|
||||
#self.log_signal.emit(logging.INFO, "🟢 传感器2检测到料包到位，立即停止 conveyor2")
|
||||
# ✅ 立即停止电机（不管机器人是否在抓取）
|
||||
self.close(conveyor2=True)
|
||||
print("执行关闭")
|
||||
self.motor_stopped_by_sensor2 = True # 标记为传感器2触发停止
|
||||
self.sensor2_ready = True
|
||||
else:
|
||||
if self.sensor2_ready and self.motor_stopped_by_sensor2:
|
||||
#self.log_signal.emit(logging.INFO, "🟡 传感器2未检测到料包，准备重新启动 conveyor2")
|
||||
# ✅ 重新启动 conveyor2（可选）
|
||||
self.open(conveyor2=True)
|
||||
self.motor_stopped_by_sensor2 = False
|
||||
self.sensor2_ready = False
|
||||
|
||||
time.sleep(0.5)
|
||||
except Exception as e:
|
||||
self.log_signal.emit(logging.ERROR, f"🔴 SENSOR2 处理错误: {e}")
|
||||
time.sleep(1)
|
||||
def start(self):
|
||||
if self._running:
|
||||
print("线程已经在运行")
|
||||
return
|
||||
print("启动传感器线程")
|
||||
self._running = True
|
||||
self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
|
||||
self._sensor2_thread = threading.Thread(target=self.handle_sensor2, daemon=True)
|
||||
self._sensor1_thread.start()
|
||||
self._sensor2_thread.start()
|
||||
|
||||
def stop(self):
|
||||
if not self._running:
|
||||
print("线程未在运行")
|
||||
return
|
||||
print("停止传感器线程")
|
||||
self._running = False
|
||||
if self._sensor1_thread:
|
||||
self._sensor1_thread.join()
|
||||
if self._sensor2_thread:
|
||||
self._sensor2_thread.join()
|
||||
print("传感器线程已终止。")
|
||||
|
||||
def start_sensor1_only(self):
|
||||
if self._running:
|
||||
print("传感器线程已经在运行")
|
||||
return
|
||||
print("启动传感器1监听线程...")
|
||||
self._running = True
|
||||
self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
|
||||
self._sensor1_thread.start()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
controller = RelayController()
|
||||
controller.start()
|
||||
try:
|
||||
while True:
|
||||
time.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
controller.stop()
|
||||
@ -1,274 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import socket
|
||||
import binascii
|
||||
import time
|
||||
import threading
|
||||
|
||||
class RelayController:
|
||||
def __init__(self, host='192.168.0.18', port=50000):
|
||||
self.host = host
|
||||
self.port = port
|
||||
|
||||
# 控件映射
|
||||
self.CONVEYOR1 = 'conveyor1'
|
||||
self.PUSHER = 'pusher'
|
||||
self.CONVEYOR2 = 'conveyor2'
|
||||
self.CLAMP = 'clamp'
|
||||
self.SENSOR1 = 'sensor1'
|
||||
self.SENSOR2 = 'sensor2'
|
||||
|
||||
self.valve_commands = {
|
||||
self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
|
||||
self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
|
||||
self.CONVEYOR2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
|
||||
self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'}
|
||||
}
|
||||
|
||||
self.read_status_command = {
|
||||
'devices': '000000000006010100000008',
|
||||
'sensors': '000000000006010200000008'
|
||||
}
|
||||
|
||||
self.device_bit_map = {
|
||||
self.CONVEYOR1: 0,
|
||||
self.PUSHER: 1,
|
||||
self.CONVEYOR2: 2,
|
||||
self.CLAMP: 3,
|
||||
}
|
||||
|
||||
self.sensor_bit_map = {
|
||||
self.SENSOR1: 0,
|
||||
self.SENSOR2: 1,
|
||||
}
|
||||
|
||||
self.device_name_map = {
|
||||
self.CONVEYOR1: "传送带1",
|
||||
self.PUSHER: "推板",
|
||||
self.CONVEYOR2: "传送带2",
|
||||
self.CLAMP: "机械臂"
|
||||
}
|
||||
|
||||
self.sensor_name_map = {
|
||||
self.SENSOR1: '位置传感器1',
|
||||
self.SENSOR2: '位置传感器2',
|
||||
}
|
||||
|
||||
self._running = False
|
||||
self._sensor1_thread = None
|
||||
self._sensor2_thread = None
|
||||
|
||||
def send_command_old(self, command_hex):
|
||||
byte_data = binascii.unhexlify(command_hex)
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
|
||||
try:
|
||||
sock.connect((self.host, self.port))
|
||||
sock.send(byte_data)
|
||||
response = sock.recv(1024)
|
||||
print(f"收到响应: {binascii.hexlify(response)}")
|
||||
return response
|
||||
except Exception as e:
|
||||
print(f"通信错误: {e}")
|
||||
return None
|
||||
|
||||
def start_sensor1_only(self):
|
||||
if self._running:
|
||||
print("线程已经在运行")
|
||||
return
|
||||
print("启动传感器1监听线程")
|
||||
self._running = True
|
||||
self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
|
||||
self._sensor1_thread.start()
|
||||
|
||||
def send_command(self, command_hex, retry_count=5, source='unknown'):
|
||||
byte_data = binascii.unhexlify(command_hex)
|
||||
for attempt in range(retry_count):
|
||||
try:
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
|
||||
sock.settimeout(10)
|
||||
sock.connect((self.host, self.port))
|
||||
sock.send(byte_data)
|
||||
response = sock.recv(1024)
|
||||
hex_response = binascii.hexlify(response).decode('utf-8')
|
||||
|
||||
# 根据 source 区分响应来源
|
||||
if source == 'sensor':
|
||||
print(f"[传感器响应] {hex_response}")
|
||||
elif source == 'device':
|
||||
print(f"[设备控制响应] {hex_response}")
|
||||
else:
|
||||
print(f"[通信响应] {hex_response}")
|
||||
|
||||
return response
|
||||
except Exception as e:
|
||||
print(f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
|
||||
if attempt == retry_count - 1:
|
||||
self.trigger_alarm()
|
||||
time.sleep(5)
|
||||
return None
|
||||
|
||||
def trigger_alarm(self):
|
||||
"""当通信错误超过最大重试次数时触发报警"""
|
||||
print("警告：连续多次通信失败，请检查设备连接！")
|
||||
# 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
|
||||
|
||||
def get_all_device_status(self, command_type='devices'):
|
||||
command = self.read_status_command.get(command_type)
|
||||
if not command:
|
||||
print(f"未知的读取类型: {command_type}")
|
||||
return {}
|
||||
|
||||
# 设置来源标识
|
||||
source = 'sensor' if command_type == 'sensors' else 'device'
|
||||
|
||||
response = self.send_command(command, source=source)
|
||||
status_dict = {}
|
||||
|
||||
if response and len(response) >= 10:
|
||||
status_byte = response[9]
|
||||
status_bin = f"{status_byte:08b}"[::-1]
|
||||
|
||||
bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
|
||||
name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
|
||||
|
||||
for key, bit_index in bit_map.items():
|
||||
status_dict[key] = status_bin[bit_index] == '1'
|
||||
else:
|
||||
print(f"[{command_type}] 读取状态失败或响应无效")
|
||||
|
||||
return status_dict
|
||||
|
||||
def get_device_status_old(self, name, command_type='devices'):
|
||||
return self.get_all_device_status(command_type).get(name, None)
|
||||
|
||||
def get_device_status(self, name, command_type='devices', stable_duration=1.0, max_attempts=3):
|
||||
"""
|
||||
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。
|
||||
|
||||
参数:
|
||||
name (str): 设备/传感器名称，如 SENSOR1
|
||||
command_type (str): 类型，'devices' 或 'sensors'
|
||||
stable_duration (float): 信号需要稳定的持续时间（秒）
|
||||
max_attempts (int): 最大尝试次数（用于稳定性判断）
|
||||
|
||||
返回:
|
||||
bool or None: 稳定检测到信号返回 True，否则返回 False 或 None（失败）
|
||||
"""
|
||||
stable_count = 0
|
||||
interval = 0.2 # 每隔多久检查一次
|
||||
|
||||
for _ in range(int(stable_duration / interval)):
|
||||
statuses = self.get_all_device_status(command_type)
|
||||
status = statuses.get(name)
|
||||
|
||||
if status is True:
|
||||
stable_count += 1
|
||||
if stable_count >= max_attempts:
|
||||
return True
|
||||
elif status is False:
|
||||
return False
|
||||
else:
|
||||
# None 表示读取失败
|
||||
print(f"[警告] 读取 {name} 状态失败，尝试重试...")
|
||||
stable_count = 0
|
||||
|
||||
time.sleep(interval)
|
||||
|
||||
return False # 默认返回 False，避免误触发
|
||||
|
||||
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False):
|
||||
status = self.get_all_device_status()
|
||||
if conveyor1 and not status.get(self.CONVEYOR1, False):
|
||||
print("打开传送带1")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR1]['open'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if pusher and not status.get(self.PUSHER, False):
|
||||
print("打开推板")
|
||||
self.send_command(self.valve_commands[self.PUSHER]['open'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
if conveyor2 and not status.get(self.CONVEYOR2, False):
|
||||
print("打开传送带2")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR2]['open'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if clamp and not status.get(self.CLAMP, False):
|
||||
print("启动机械臂抓夹")
|
||||
self.send_command(self.valve_commands[self.CLAMP]['open'], source='device')
|
||||
time.sleep(0.5)
|
||||
|
||||
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False):
|
||||
status = self.get_all_device_status()
|
||||
if conveyor1 and status.get(self.CONVEYOR1, True):
|
||||
print("关闭传送带1")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR1]['close'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if pusher and status.get(self.PUSHER, True):
|
||||
print("关闭推板")
|
||||
self.send_command(self.valve_commands[self.PUSHER]['close'], source='device')
|
||||
time.sleep(0.05)
|
||||
|
||||
if conveyor2 and status.get(self.CONVEYOR2, True):
|
||||
print("关闭传送带2")
|
||||
self.send_command(self.valve_commands[self.CONVEYOR2]['close'], source='device')
|
||||
time.sleep(1)
|
||||
|
||||
if clamp and status.get(self.CLAMP, True):
|
||||
print("停止机械臂抓夹")
|
||||
self.send_command(self.valve_commands[self.CLAMP]['close'], source='device')
|
||||
time.sleep(0.5)
|
||||
|
||||
def handle_sensor1(self):
|
||||
while self._running:
|
||||
try:
|
||||
if self.get_device_status(self.SENSOR1, 'sensors'):
|
||||
print("SENSOR1 检测到信号，执行流程")
|
||||
self.close(conveyor1=True)
|
||||
time.sleep(2)
|
||||
self.open(pusher=True)
|
||||
time.sleep(5)
|
||||
self.close(pusher=True)
|
||||
time.sleep(2)
|
||||
self.open(conveyor1=True)
|
||||
time.sleep(0.5)
|
||||
except Exception as e:
|
||||
print(f"SENSOR1 处理错误: {e}")
|
||||
|
||||
def handle_sensor2(self):
|
||||
while self._running:
|
||||
try:
|
||||
if self.get_device_status(self.SENSOR2, 'sensors'):
|
||||
print("SENSOR2 检测到信号，执行流程")
|
||||
self.close(conveyor2=True)
|
||||
time.sleep(2)
|
||||
self.open(clamp=True)
|
||||
time.sleep(2)
|
||||
self.open(conveyor2=True)
|
||||
time.sleep(0.5)
|
||||
except Exception as e:
|
||||
print(f"SENSOR2 处理错误: {e}")
|
||||
|
||||
def start(self):
|
||||
if self._running:
|
||||
print("线程已经在运行")
|
||||
return
|
||||
print("启动传感器线程")
|
||||
self._running = True
|
||||
self._sensor1_thread = threading.Thread(target=self.handle_sensor1, daemon=True)
|
||||
self._sensor2_thread = threading.Thread(target=self.handle_sensor2, daemon=True)
|
||||
self._sensor1_thread.start()
|
||||
self._sensor2_thread.start()
|
||||
|
||||
def stop(self):
|
||||
if not self._running:
|
||||
print("线程未在运行")
|
||||
return
|
||||
print("停止传感器线程")
|
||||
self._running = False # 设置标志位为 False
|
||||
if self._sensor1_thread is not None:
|
||||
self._sensor1_thread.join() # 等待线程结束
|
||||
if self._sensor2_thread is not None:
|
||||
self._sensor2_thread.join()
|
||||
print("传感器线程已终止。")
|
||||
@ -4,6 +4,7 @@ import sys
|
||||
sys.path.insert(0, os.path.dirname(os.path.dirname(__file__)))
|
||||
from EMV import RelayController
|
||||
import time
|
||||
from datetime import datetime
|
||||
import threading
|
||||
|
||||
relay_controller = RelayController() # 实例化控制器
|
||||
@ -97,17 +98,39 @@ if __name__ == "__main__":
|
||||
# sensors = relay_controller.get_all_device_status()
|
||||
# print(sensors)
|
||||
# time.sleep(3)
|
||||
# test_device('conveyor2', 'open')
|
||||
while True:
|
||||
test_device('conveyor2', 'open')
|
||||
# test_device('belt', 'close')
|
||||
# time.sleep(3)
|
||||
test_device('conveyor2', 'close')
|
||||
# test_device('belt', 'close')
|
||||
# time.sleep(3)
|
||||
# test_device('conveyor2', 'open')
|
||||
# test_device('belt', 'close')
|
||||
# sensors = relay_controller.get_all_device_status('sensors')
|
||||
# sensor2_value = sensors.get(relay_controller.SENSOR2, False)
|
||||
|
||||
|
||||
# while True:
|
||||
# responses = relay_controller.get_all_sensor_responses('sensors')
|
||||
# response = responses.get(relay_controller.SENSOR2)
|
||||
|
||||
# if not response:
|
||||
# print(f"[警告] 无法获取 {relay_controller.SENSOR2} 的响应，尝试重试...")
|
||||
|
||||
# else:
|
||||
# status_code = relay_controller.parse_status_code(response)
|
||||
# if status_code in relay_controller.required_codes_1:
|
||||
# print(datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]+'收到有效状态码信号')
|
||||
# else:
|
||||
# print(datetime.now().strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]+'无效状态码信号')
|
||||
# time.sleep(0.2)
|
||||
|
||||
|
||||
|
||||
# relay_controller._running=True
|
||||
# relay_controller.sensor2_ready=True
|
||||
# relay_controller.handle_sensor2()
|
||||
test_device('blow_sensor2', 'close')
|
||||
# test_device('blow_sensor2', 'open')
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# test_device('blow_sensor2', 'close')
|
||||
# while True:
|
||||
@ -132,7 +155,7 @@ if __name__ == "__main__":
|
||||
# relay_controller._running=True
|
||||
# relay_controller.handle_emergency_pressed()
|
||||
|
||||
time.sleep(100)
|
||||
time.sleep(1000000)
|
||||
|
||||
print('aaaaa')
|
||||
|
||||
|
||||
@ -1,28 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import time
|
||||
from EMV import RelayController # 请根据你的实际模块名修改
|
||||
|
||||
def run_real_sensor_monitor():
|
||||
# 创建控制器实例
|
||||
controller = RelayController()
|
||||
|
||||
try:
|
||||
print("启动传感器1监听线程...")
|
||||
controller.start_sensor1_only() # 只启动传感器1的监听线程
|
||||
|
||||
print("开始监听真实传感器1信号，按 Ctrl+C 停止...")
|
||||
|
||||
# 主线程可以继续做其他事情，或者只是等待
|
||||
while True:
|
||||
time.sleep(1) # 保持主线程运行
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n检测到中断信号，正在停止传感器监听...")
|
||||
finally:
|
||||
controller.stop()
|
||||
print("程序已安全退出。")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
run_real_sensor_monitor()
|
||||
@ -1,88 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import time
|
||||
import logging
|
||||
from threading import Thread
|
||||
from unittest.mock import patch
|
||||
|
||||
# 假设你的 RelayController 类在名为 EMV 的模块中
|
||||
from EMV import RelayController # 替换为你的模块名
|
||||
|
||||
# 设置日志格式
|
||||
logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
|
||||
|
||||
def simulate_sensor(controller, sensor_name, active=True, duration=10):
|
||||
"""
|
||||
模拟指定传感器在一段时间内处于激活状态。
|
||||
:param controller: RelayController 实例
|
||||
:param sensor_name: 要模拟的传感器名（如 controller.SENSOR2）
|
||||
:param active: 是否激活传感器信号
|
||||
:param duration: 模拟运行时间（秒）
|
||||
"""
|
||||
logging.info(f"🧪 开始模拟传感器：{controller.sensor_name_map.get(sensor_name, sensor_name)}")
|
||||
original_method = controller.get_all_device_status
|
||||
|
||||
def mock_get_all_device_status(command_type='devices'):
|
||||
if command_type == 'sensors':
|
||||
all_status = original_method(command_type)
|
||||
all_status[sensor_name] = active
|
||||
return all_status
|
||||
return original_method(command_type)
|
||||
|
||||
# 确定目标函数
|
||||
target_func = None
|
||||
if sensor_name == controller.SENSOR1:
|
||||
target_func = controller.handle_sensor1
|
||||
elif sensor_name == controller.SENSOR2:
|
||||
target_func = controller.handle_sensor2
|
||||
else:
|
||||
raise ValueError("不支持的传感器名称")
|
||||
|
||||
# 设置 _running 为 True，确保线程能进入循环
|
||||
controller._running = True
|
||||
|
||||
# 启动线程
|
||||
sensor_thread = Thread(target=target_func, daemon=True)
|
||||
sensor_thread.start()
|
||||
logging.info(f"✅ {controller.sensor_name_map[sensor_name]} 监听线程已启动")
|
||||
|
||||
try:
|
||||
# Patch get_all_device_status 方法
|
||||
with patch.object(controller, 'get_all_device_status', mock_get_all_device_status):
|
||||
logging.info(f"🟢 模拟 {controller.sensor_name_map[sensor_name]} 有信号输入，持续 {duration} 秒")
|
||||
time.sleep(duration)
|
||||
except Exception as e:
|
||||
logging.error(f"🔴 模拟过程中发生错误: {e}")
|
||||
finally:
|
||||
# 停止控制器
|
||||
controller._running = False
|
||||
logging.info("🛑 停止控制器主循环")
|
||||
# 等待线程退出
|
||||
sensor_thread.join(timeout=2)
|
||||
if sensor_thread.is_alive():
|
||||
logging.warning("⚠️ 传感器线程未能及时退出")
|
||||
else:
|
||||
logging.info("✅ 传感器线程已安全退出")
|
||||
|
||||
if __name__ == '__main__':
|
||||
# 创建控制器实例
|
||||
relay_controller = RelayController()
|
||||
|
||||
# 打印当前配置的传感器名称映射（方便调试）
|
||||
logging.info("🔧 当前传感器配置:")
|
||||
for key, val in relay_controller.sensor_name_map.items():
|
||||
logging.info(f" {key}: {val}")
|
||||
|
||||
try:
|
||||
# 模拟 SENSOR2 有信号输入，运行 10 秒
|
||||
logging.info("🧪 开始模拟传感器2")#修改这里
|
||||
simulate_sensor(relay_controller, relay_controller.SENSOR1, active=True, duration=10)#
|
||||
|
||||
# 可选：模拟 SENSOR1
|
||||
# logging.info("🧪 开始模拟传感器1")
|
||||
# simulate_sensor(relay_controller, relay_controller.SENSOR1, active=True, duration=10)
|
||||
|
||||
except KeyboardInterrupt:
|
||||
logging.info("🛑 用户中断模拟")
|
||||
finally:
|
||||
logging.info("🏁 模拟结束")
|
||||
Reference in New Issue
Block a user