EMV延迟参数集成，旧EMV在同名文件夹下EMV_old_save

EMV/EMV_reneer_pengqi_save.py

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+#!/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。")