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合并35kg

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This commit is contained in:
fujinliang
2025-09-30 14:44:12 +08:00
parent e764586cc7
commit bda47e10e9
15 changed files with 1173 additions and 17665 deletions
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346
EMV/EMV.py
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@ -36,6 +36,7 @@ class RelayController(QObject):
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）
self.sensor2_debounce_time = 3.0 # 袋尾检测3秒有效信号
# ===================== 网络与设备映射 =====================
self.host = host
@ -113,6 +114,7 @@ class RelayController(QObject):
self.sensor2_ready = False #默认不打开
self.motor_stopped_by_sensor2 = True
self.is_drop_35=False #是否是35码
# ===================== 基础通信方法 =====================
def send_command(self, command_hex, retry_count=2, source='unknown'):
@ -127,7 +129,7 @@ class RelayController(QObject):
sock.connect((self.host, self.port))
sock.send(byte_data)
response = sock.recv(1024)
hex_response = binascii.hexlify(response).decode('utf-8')
# hex_response = binascii.hexlify(response).decode('utf-8')
#if source == 'sensor':
#print(f"[传感器响应] {hex_response}")
#elif source == 'device':
@ -136,13 +138,14 @@ class RelayController(QObject):
#print(f"[通信响应] {hex_response}")
return response
except Exception as e:
print(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})")
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})")
time.sleep(5)
self.trigger_alarm()
return None
def trigger_alarm(self):
print("警告：网络继电器连续多次通信失败，请检查设备连接！")
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！")
# ===================== 状态读取方法 =====================
def get_all_device_status(self, command_type='devices'):
@ -186,6 +189,7 @@ class RelayController(QObject):
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
@ -247,7 +251,63 @@ class RelayController(QObject):
time.sleep(self.sensor2_loop_delay)
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
"""
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:
return True
else:
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 = None # 信号不稳定，重置计时
time.sleep(check_interval)
return False
def is_valid_sensor2_status_lost(self, sensor_name):
"""
检查传感器2是否丢失信号
"""
stable_count = 0
_try_nums=5 # 尝试次数
for _ in range(_try_nums):
@ -269,49 +329,104 @@ class RelayController(QObject):
return False
# ===================== 动作控制方法 =====================
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False):
if Constant.DebugPosition:
return
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
"""将if改成elif,一次只能打开一个设备，否则会造成延时sleep时间不一致问题。并返回成功核验"""
loc_ret=False
loc_reponse=None
loc_send_command=None
status = self.get_all_device_status()
if conveyor1 and not status.get(self.CONVEYOR1, False):
self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
time.sleep(self.delay_conveyor)
if pusher and not status.get(self.PUSHER, False):
self.send_command(self.valve_commands[self.PUSHER]['open'])
time.sleep(self.delay_pusher)
if conveyor2 and not status.get(self.CONVEYOR2, False):
self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
time.sleep(self.delay_conveyor)
if clamp and not status.get(self.CLAMP, False):
self.send_command(self.valve_commands[self.CLAMP]['open'])
time.sleep(self.delay_clamp)
if pusher1 and not status.get(self.PUSHER1, False):
self.send_command(self.valve_commands[self.PUSHER1]['open'])
time.sleep(self.delay_pusher)
if conveyor2_reverse:
self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open'])
time.sleep(self.delay_conveyor)
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False):
if conveyor1:
self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
if not status.get(self.CONVEYOR1, False):
loc_send_command=self.valve_commands[self.CONVEYOR1]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
else:
loc_ret=True
elif pusher:
if not status.get(self.PUSHER, False):
loc_send_command=self.valve_commands[self.PUSHER]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_pusher)
else:
loc_ret=True
elif conveyor2:
if not status.get(self.CONVEYOR2, False):
loc_send_command=self.valve_commands[self.CONVEYOR2]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
else:
loc_ret=True
elif clamp:
if not status.get(self.CLAMP, False):
loc_send_command=self.valve_commands[self.CLAMP]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_clamp)
else:
loc_ret=True
elif pusher1:
if not status.get(self.PUSHER1, False):
loc_send_command=self.valve_commands[self.PUSHER1]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_pusher)
else:
loc_ret=True
elif conveyor2_reverse:
if not status.get(self.CONVEYOR2_REVERSE, False):
loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['open']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
else:
loc_ret=True
if loc_reponse and len(loc_reponse) >= 10:
lol_hex_response = binascii.hexlify(response).decode('utf-8')
if lol_hex_response == loc_send_command:
loc_ret=True
if Constant.DebugPosition:
loc_ret=True
return loc_ret
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False)->bool:
loc_ret=False
loc_reponse=None
loc_send_command=None
if conveyor1:
loc_send_command=self.valve_commands[self.CONVEYOR1]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
if pusher:
self.send_command(self.valve_commands[self.PUSHER]['close'])
loc_send_command=self.valve_commands[self.PUSHER]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_pusher)
if conveyor2:
self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
loc_send_command=self.valve_commands[self.CONVEYOR2]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
if clamp:
self.send_command(self.valve_commands[self.CLAMP]['close'])
loc_send_command=self.valve_commands[self.CLAMP]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_clamp)
if pusher1:
self.send_command(self.valve_commands[self.PUSHER1]['close'])
loc_send_command=self.valve_commands[self.PUSHER1]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_pusher)
if conveyor2_reverse:
self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
loc_send_command=self.valve_commands[self.CONVEYOR2_REVERSE]['close']
loc_reponse=self.send_command(loc_send_command)
time.sleep(self.delay_conveyor)
if loc_reponse and len(loc_reponse) >= 10:
lol_hex_response = binascii.hexlify(response).decode('utf-8')
if lol_hex_response == loc_send_command:
loc_ret=True
if Constant.DebugPosition:
loc_ret=True
return loc_ret
# ===================== 传感器处理线程 =====================
def handle_sensor1(self):
while self._running:
@ -356,6 +471,7 @@ class RelayController(QObject):
time.sleep(self.sensor1_loop_delay)
except Exception as e:
print(f"SENSOR1 处理错误: {e}")
self.log_signal.emit(logging.ERROR,f"SENSOR1 处理错误: {e}")
self.sensor1_triggered = False
time.sleep(self.sensor1_error_delay)
@ -363,6 +479,14 @@ class RelayController(QObject):
_is_pause_close=True
#是否料袋尾部（有信号--》无信号）
_is_signal=False
#正发转用
_is_reverse_2=False
#是否反转后正转信号消息
_is_signal_2=False
#是否首次正转信号
_is_first_signal_2=False
while self._running:
if self._ispause:
#暂停
@ -376,23 +500,141 @@ class RelayController(QObject):
continue
#开启线程
_is_pause_close=True
if self.is_drop_35:
#region 35kg 正反转打平
try:
if _is_signal_2 or self.is_valid_sensor_status_1(self.SENSOR2):
#反转要加个防抖动时间
if _is_reverse_2:
print('回退后检查到sensor2 35KG信号，正转')
self.open(conveyor2=True)
_is_reverse_2=False
_is_signal_2=True
elif _is_signal_2 and self.is_valid_sensor2_status_lost(self.SENSOR2):
print('检查到sensor2正转35KG信号消失')
self.close(conveyor2=True)
#滚筒关闭标志
self.motor_stopped_by_sensor2 = True
# 发送信号通知机器人取走物品
self.take_robot_signal.emit()
_is_signal_2=False
#停止后即使有信号了，也不能转，直到self.sensor2_ready=True
# _is_first_signal=False
self.sensor2_ready=False #打开滚洞标识
elif not _is_first_signal_2:
print('检查到正转sensor2 35KG信号')
#检测到信号，5秒
time.sleep(6)
self.open(conveyor2_reverse=True)
_is_reverse_2=True
_is_first_signal_2=True
time.sleep(0.1)
continue
elif self.sensor2_ready:
#sensor2_ready:通过Feeding:FPhoto处控制是否启动
if self.motor_stopped_by_sensor2:
print('开滚筒')
self.open(conveyor2=True)
self.motor_stopped_by_sensor2 = False
_is_first_signal=False
# _is_reverse=False
# _is_first_signal=False
# _is_signal=False
if _is_reverse_2:
time.sleep(0.1)
else:
time.sleep(2)
except Exception as e:
print(f"SENSOR3 处理错误: {e}")
self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}")
time.sleep(self.sensor2_error_delay)
#endregion
else:
try:
if self.sensor2_ready:
#sensor2_ready:通过Feeding:FPhoto处控制是否启动,到了，先启动
if self.motor_stopped_by_sensor2:
print('开滚筒')
self.open(conveyor2=True)
self.motor_stopped_by_sensor2 = False
elif _is_signal or self.is_valid_sensor_signal_stable(self.SENSOR2,detection_duration=3,stability_duration=2.5,check_interval=0.5):
#检测到信号，如果之前是没有信号，关闭滚筒
print('检查到sensor2信号')
if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
print('检查到sensor2信号消失')
self.close(conveyor2=True)
#滚筒关闭标志
self.motor_stopped_by_sensor2 = True
# 发送信号通知机器人取走物品
self.take_robot_signal.emit()
_is_signal=False
self.sensor2_ready=False #打开滚洞标识
else:
_is_signal=True
# time.sleep(0.1)
continue
time.sleep(2)
except Exception as e:
print(f"SENSOR2 处理错误: {e}")
self.log_signal.emit(logging.ERROR,f"SENSOR2 处理错误: {e}")
time.sleep(self.sensor2_error_delay)
def handle_sensor3(self):
"""
正转--》反转--》正转
"""
_is_pause_close=True
#是否反转
_is_reverse=False
#是否反转后正转信号消息
_is_signal=False
#是否首次正转信号
_is_first_signal=False
#是否料袋尾部（有信号--》无信号）
while self._running:
if self._ispause:
#暂停
if _is_pause_close:
self.close(conveyor2=True)
self.motor_stopped_by_sensor2 = True
# self.sensor2_ready = True #初始值
_is_pause_close=False
time.sleep(self.sensor2_error_delay)
continue
#开启线程
_is_pause_close=True
#滚动次数
try:
if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):
#检测到信号，如果之前是没有信号，关闭滚筒
print('检查到sensor2信号')
if _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
print('检查到sensor2信号消失')
if _is_signal or self.is_valid_sensor_status_1(self.SENSOR2):
#反转要加个防抖动时间
if _is_reverse:
print('回退后检查到sensor2信号，正转')
self.open(conveyor2=True)
_is_reverse=False
_is_signal=True
elif _is_signal and self.is_valid_sensor2_status_lost(self.SENSOR2):
print('检查到sensor2正转信号消失')
self.close(conveyor2=True)
#滚筒关闭标志
self.motor_stopped_by_sensor2 = True
# 发送信号通知机器人取走物品
self.take_robot_signal.emit()
_is_signal=False
#停止后即使有信号了，也不能转，直到self.sensor2_ready=True
# _is_first_signal=False
self.sensor2_ready=False #打开滚洞标识
else:
_is_signal=True
# time.sleep(0.1)
elif not _is_first_signal:
print('检查到正转sensor2信号')
#检测到信号，5秒
time.sleep(6)
self.open(conveyor2_reverse=True)
_is_reverse=True
_is_first_signal=True
time.sleep(0.1)
continue
elif self.sensor2_ready:
#sensor2_ready:通过Feeding:FPhoto处控制是否启动
@ -400,12 +642,20 @@ class RelayController(QObject):
print('开滚筒')
self.open(conveyor2=True)
self.motor_stopped_by_sensor2 = False
time.sleep(2)
_is_first_signal=False
# _is_reverse=False
# _is_first_signal=False
# _is_signal=False
if _is_reverse:
time.sleep(0.1)
else:
time.sleep(2)
except Exception as e:
print(f"SENSOR2 处理错误: {e}")
print(f"SENSOR3 处理错误: {e}")
self.log_signal.emit(logging.ERROR,f"SENSOR3 处理错误: {e}")
time.sleep(self.sensor2_error_delay)
def pause_start_sensor(self,is_pause):
"""
暂停或开启传感器线程
@ -413,6 +663,14 @@ class RelayController(QObject):
"""
self._ispause = is_pause
def set_drop_35(self,is_drop_35):
"""
设置是否是35码
is_drop_35:True是，False否
"""
self.is_drop_35=is_drop_35
def stop_sensor(self,sensor1_thread,sensor2_thread):
if not self._running:
print("线程未在运行")