251108问题修复
This commit is contained in:
159
EMV/EMV.py
159
EMV/EMV.py
@ -14,6 +14,8 @@ import Constant
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class RelayController(QObject):
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log_signal = Signal(int, str)
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take_robot_signal = Signal()
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emergency_signal = Signal(bool)
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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 =====================
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@ -32,6 +34,8 @@ class RelayController(QObject):
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self.delay_clamp = 0.5 # 夹爪动作延时
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self.delay_after_pusher = 5.0 # 推板推出后到重启传动带时间
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self.emergency_is_pressed=False
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# ===================== 传感器稳定检测参数 =====================
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self.sensor_stable_duration = 1.0 # 传感器状态稳定检测时间（秒）
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self.sensor_max_attempts = 3 # 连续检测次数达到此值判定有效
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@ -49,8 +53,11 @@ class RelayController(QObject):
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self.PUSHER1 = 'pusher1'
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self.SENSOR1 = 'sensor1'
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self.SENSOR2 = 'sensor2'
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self.BELT = 'belt'
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self.ALARM = 'alarm'
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self.valve_commands = {
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#包装机皮带
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self.CONVEYOR1: {'open': '000000000006010500070000', 'close': '00000000000601050007FF00'},
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# self.CONVEYOR11: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
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self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
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@ -60,6 +67,10 @@ class RelayController(QObject):
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self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
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#DO5 回 DO2推
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self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'},
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#D07 长皮带
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self.BELT: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'},
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#D01 声控报警
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self.ALARM: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
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#滚筒反转
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self.CONVEYOR2_REVERSE: {'open': '000100000006020620000022', 'close': '000100000006020620000001'}
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}
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@ -77,7 +88,9 @@ class RelayController(QObject):
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self.CONVEYOR2: 2,
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self.CLAMP: 3,
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self.PUSHER1: 4,
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self.CONVEYOR2_REVERSE: 5
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self.CONVEYOR2_REVERSE: 5,
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self.BELT: 6,
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self.ALARM: 7,
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}
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self.sensor_bit_map = {
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@ -91,7 +104,9 @@ class RelayController(QObject):
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self.CONVEYOR2: "传送带2",
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self.CLAMP: "机械臂夹爪",
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self.PUSHER1: "推板关",
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self.CONVEYOR2_REVERSE: "传送带2反转"
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self.CONVEYOR2_REVERSE: "传送带2反转",
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self.BELT: "皮带",
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self.ALARM: "声控报警",
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}
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self.sensor_name_map = {
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@ -105,8 +120,8 @@ class RelayController(QObject):
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self._sensor1_thread = None
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self._sensor2_thread = None
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self.required_codes = {'0101', '0103'} # 有效状态码（传感器1）
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self.required_codes_1 = {'0102', '0103'} # 有效状态码（传感器2）
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self.required_codes = {'0101', '0103','0105','0107'} # 有效状态码（传感器1）
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self.required_codes_1 = {'0102', '0103','0106','0107'} # 有效状态码（传感器2）
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self.sensor1_triggered = False
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self.sensor1_last_time = 0
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@ -117,7 +132,7 @@ class RelayController(QObject):
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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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if Constant.DebugPosition:
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# print(f"[发送命令] {command_hex} ({source})")
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print(f"[发送命令] {command_hex} ({source})")
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return None
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byte_data = binascii.unhexlify(command_hex)
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for attempt in range(retry_count):
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@ -136,12 +151,14 @@ class RelayController(QObject):
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#print(f"[通信响应] {hex_response}")
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return response
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except Exception as e:
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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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self.trigger_alarm()
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return None
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def trigger_alarm(self):
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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！")
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print("警告：网络继电器连续多次通信失败，请检查设备连接！")
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# ===================== 状态读取方法 =====================
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@ -199,6 +216,25 @@ 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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"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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response = self.send_command(command)
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loc_is_pressed=False
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if response and len(response) >= 10:
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status_byte = response[9]
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#简单验证
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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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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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return loc_is_pressed
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def parse_status_code(self, response):
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"""
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从 Modbus 响应字符串中提取状态码（后两位）
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@ -268,8 +304,67 @@ 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(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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stable_count = 0
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_try_nums=5 # 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 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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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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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_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 = None # 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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# ===================== 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):
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def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False):
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if Constant.DebugPosition:
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return
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status = self.get_all_device_status()
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@ -291,8 +386,14 @@ class RelayController(QObject):
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if conveyor2_reverse:
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self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['open'])
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time.sleep(self.delay_conveyor)
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if belt and not status.get(self.BELT, False):
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self.send_command(self.valve_commands[self.BELT]['open'])
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# time.sleep(self.delay_belt)
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if alarm and not status.get(self.ALARM, False):
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self.send_command(self.valve_commands[self.ALARM]['open'])
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# time.sleep(self.delay_alarm)
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def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False):
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def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False):
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if conveyor1:
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self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
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time.sleep(self.delay_conveyor)
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@ -311,6 +412,12 @@ class RelayController(QObject):
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if conveyor2_reverse:
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self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
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time.sleep(self.delay_conveyor)
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if belt:
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self.send_command(self.valve_commands[self.BELT]['close'])
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# time.sleep(self.delay_belt)
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if alarm:
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self.send_command(self.valve_commands[self.ALARM]['close'])
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# time.sleep(self.delay_alarm)
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# ===================== 传感器处理线程 =====================
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def handle_sensor1(self):
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@ -346,16 +453,17 @@ class RelayController(QObject):
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time.sleep(1)
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# 5. 状态检查（可选）
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status = self.get_all_device_status()
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if status.get('conveyor1') and not status.get('pusher'):
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print("流程完成1：皮带运行中，推板已收回")
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else:
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print("状态异常，请检查设备")
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# status = self.get_all_device_status()
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# if status.get('conveyor1') and not status.get('pusher'):
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# print("流程完成1：皮带运行中，推板已收回")
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# else:
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# print("状态异常，请检查设备")
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# 流程结束，重置触发标志
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self.sensor1_triggered = False
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time.sleep(self.sensor1_loop_delay)
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except Exception as e:
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print(f"SENSOR1 处理错误: {e}")
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self.log_signal.emit(logging.ERROR,f"SENSOR1 处理错误: {e}")
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self.sensor1_triggered = False
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time.sleep(self.sensor1_error_delay)
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@ -390,8 +498,10 @@ class RelayController(QObject):
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self.take_robot_signal.emit()
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_is_signal=False
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self.sensor2_ready=False #打开滚洞标识
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else:
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_is_signal=True
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else:
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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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# time.sleep(0.1)
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continue
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elif self.sensor2_ready:
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@ -404,6 +514,7 @@ class RelayController(QObject):
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time.sleep(2)
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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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time.sleep(self.sensor2_error_delay)
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def pause_start_sensor(self,is_pause):
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@ -413,6 +524,7 @@ class RelayController(QObject):
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"""
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self._ispause = is_pause
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def stop_sensor(self,sensor1_thread,sensor2_thread):
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if not self._running:
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print("线程未在运行")
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@ -424,3 +536,22 @@ class RelayController(QObject):
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if sensor2_thread and sensor2_thread.is_alive():
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sensor2_thread.join()
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print("传感器线程已终止。")
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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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while self._running:
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try:
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loc_is_pressed =self.get_emergency_is_pressed()
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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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self.log_signal.emit(logging.INFO,f"急停按钮被按下")
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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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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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