586 lines
26 KiB
Python
586 lines
26 KiB
Python
#!/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
|
||
from pandas.core.arrays import boolean
|
||
import Constant
|
||
|
||
|
||
class RelayController(QObject):
|
||
log_signal = Signal(int, str)
|
||
take_robot_signal = Signal()
|
||
emergency_signal = Signal(bool)
|
||
|
||
def __init__(self, host='192.168.0.18', port=50000):
|
||
super().__init__()
|
||
# ===================== 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'):
|
||
if Constant.DebugPosition:
|
||
print(f"[发送命令] {command_hex} ({source})")
|
||
return None
|
||
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:
|
||
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(5)
|
||
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 get_emergency_is_pressed(self)->bool:
|
||
"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"
|
||
"按下急停为"
|
||
command = self.read_status_command.get("sensors")
|
||
response = self.send_command(command)
|
||
loc_is_pressed=False
|
||
if response and len(response) >= 10:
|
||
status_byte = response[9]
|
||
#简单验证
|
||
status_crc=response[8]
|
||
loc_is_pressed =status_crc==1 and (status_byte & 0b100) == 0 # 0b100 表示第三位为1
|
||
else:
|
||
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")
|
||
print(f"网络继电器[急停] 读取状态失败或响应无效")
|
||
|
||
return loc_is_pressed
|
||
|
||
|
||
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_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_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
|
||
# ===================== 动作控制方法 =====================
|
||
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
|
||
# if Constant.DebugPosition:
|
||
# return
|
||
# status = self.get_all_device_status()
|
||
if conveyor1:
|
||
self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
|
||
time.sleep(self.delay_conveyor)
|
||
if pusher:
|
||
self.send_command(self.valve_commands[self.PUSHER]['open'])
|
||
time.sleep(self.delay_pusher)
|
||
if conveyor2:
|
||
self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
|
||
time.sleep(self.delay_conveyor)
|
||
if clamp:
|
||
self.send_command(self.valve_commands[self.CLAMP]['open'])
|
||
time.sleep(self.delay_clamp)
|
||
if pusher1:
|
||
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)
|
||
if belt:
|
||
self.send_command(self.valve_commands[self.BELT]['open'])
|
||
# time.sleep(self.delay_belt)
|
||
if alarm:
|
||
self.send_command(self.valve_commands[self.ALARM]['open'])
|
||
# time.sleep(self.delay_alarm)
|
||
if blow_sensor2:
|
||
self.send_command(self.valve_commands[self.BLOW_SENSOR2]['open'])
|
||
# time.sleep(self.delay_blow_sensor2)
|
||
|
||
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False, conveyor2_reverse=False,belt=False,alarm=False,blow_sensor2=False):
|
||
if conveyor1:
|
||
self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
|
||
time.sleep(self.delay_conveyor)
|
||
if pusher:
|
||
self.send_command(self.valve_commands[self.PUSHER]['close'])
|
||
time.sleep(self.delay_pusher)
|
||
if conveyor2:
|
||
self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
|
||
time.sleep(self.delay_conveyor)
|
||
if clamp:
|
||
self.send_command(self.valve_commands[self.CLAMP]['close'])
|
||
time.sleep(self.delay_clamp)
|
||
if pusher1:
|
||
self.send_command(self.valve_commands[self.PUSHER1]['close'])
|
||
time.sleep(self.delay_pusher)
|
||
if conveyor2_reverse:
|
||
self.send_command(self.valve_commands[self.CONVEYOR2_REVERSE]['close'])
|
||
time.sleep(self.delay_conveyor)
|
||
if belt:
|
||
self.send_command(self.valve_commands[self.BELT]['close'])
|
||
# time.sleep(self.delay_belt)
|
||
if alarm:
|
||
self.send_command(self.valve_commands[self.ALARM]['close'])
|
||
# time.sleep(self.delay_alarm)
|
||
if blow_sensor2:
|
||
self.send_command(self.valve_commands[self.BLOW_SENSOR2]['close'])
|
||
# time.sleep(self.delay_blow_sensor2)
|
||
|
||
# ===================== 传感器处理线程 =====================
|
||
def handle_sensor1(self):
|
||
while self._running:
|
||
if self._ispause and not self.sensor1_triggered:
|
||
#暂停线程， 保证线程1执行完传感器操作
|
||
time.sleep(self.sensor1_error_delay)
|
||
continue
|
||
|
||
try:
|
||
if self.is_valid_sensor_status(self.SENSOR1):
|
||
current_time = time.time()
|
||
if not self.sensor1_triggered and (
|
||
current_time - self.sensor1_last_time) > self.sensor1_debounce_time:
|
||
self.sensor1_triggered = True
|
||
self.sensor1_last_time = current_time
|
||
# 1.停止包装机皮带电机：关闭 conveyor1
|
||
self.close(conveyor1=True)
|
||
time.sleep(self.delay_conveyor)
|
||
# 2.推板开启：推出去动作
|
||
self.open(pusher=True)
|
||
time.sleep(self.delay_pusher)
|
||
self.close(pusher=True)
|
||
# 推板推出后重新启动电机时间传送带1延时5秒
|
||
time.sleep(self.delay_after_pusher)
|
||
# 4.推板关闭：推板收回来动作
|
||
self.open(pusher1=True)
|
||
time.sleep(self.delay_pusher)
|
||
self.close(pusher1=True)
|
||
# 3.重新开启包装机皮带电机: 开启conveyor1
|
||
time.sleep(self.delay_conveyor)
|
||
self.open(conveyor1=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
|
||
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)
|
||
|
||
def handle_sensor2(self):
|
||
_is_pause_close=True
|
||
#是否料袋尾部（有信号--》无信号）
|
||
_is_signal=False
|
||
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
|
||
|
||
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')
|
||
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，FPhoto控制打开
|
||
else:
|
||
if self.sensor2_ready:
|
||
#只有在FPhoto处才有效
|
||
_is_signal=True
|
||
if self.motor_stopped_by_sensor2:
|
||
print('开滚筒')
|
||
self.open(conveyor2=True)
|
||
self.motor_stopped_by_sensor2 = False
|
||
|
||
# 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
|
||
|
||
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 pause_start_sensor(self,is_pause):
|
||
"""
|
||
暂停或开启传感器线程
|
||
is_pause:True是，False否
|
||
"""
|
||
self._ispause = is_pause
|
||
|
||
if is_pause:
|
||
"""暂停皮带"""
|
||
self.close(belt=True)
|
||
else:
|
||
"""开启皮带"""
|
||
self.open(belt=True)
|
||
|
||
|
||
def stop_sensor(self,sensor1_thread,sensor2_thread):
|
||
if not self._running:
|
||
print("线程未在运行")
|
||
return
|
||
print("停止传感器线程")
|
||
self._running = False
|
||
if sensor1_thread and sensor1_thread.is_alive():
|
||
sensor1_thread.join()
|
||
if sensor2_thread and sensor2_thread.is_alive():
|
||
sensor2_thread.join()
|
||
print("传感器线程已终止。")
|
||
|
||
def handle_emergency_pressed(self):
|
||
"处理急停按钮信号状态线程"
|
||
print('检查急停按钮状态1')
|
||
|
||
while self._running:
|
||
try:
|
||
print('检查急停按钮状态')
|
||
loc_is_pressed =self.get_emergency_is_pressed()
|
||
if loc_is_pressed:
|
||
# 处理急停按钮信号状态
|
||
if not self.emergency_is_pressed:
|
||
print('急停按钮被按下')
|
||
self.log_signal.emit(logging.INFO,f"急停按钮被按下")
|
||
self.emergency_is_pressed=True
|
||
self.emergency_signal.emit(True)
|
||
else:
|
||
print('急停按钮未被按下')
|
||
self.emergency_is_pressed=False
|
||
self.emergency_signal.emit(False)
|
||
time.sleep(0.5)
|
||
except Exception as e:
|
||
print(f"急停 处理错误: {e}")
|
||
self.log_signal.emit(logging.ERROR,f"急停线程 处理错误: {e}")
|
||
time.sleep(2)
|