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EMV延迟参数集成，旧EMV在同名文件夹下EMV_old_save

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琉璃月光
2025-08-15 14:03:07 +08:00
parent 817291a425
commit 6b280e75fe
9 changed files with 489 additions and 124 deletions
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210
EMV/EMV.py
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@ -8,15 +8,37 @@ 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):
# ===================== 全局线程延时参数 =====================
self.sensor1_loop_delay = 0.2 # SENSOR1 线程轮询间隔（秒）
self.sensor1_error_delay = 1.0 # SENSOR1 出错时延时（秒）
self.sensor1_post_action_delay = 0.2 # SENSOR1 每次循环后延时（秒）
self.sensor2_loop_delay = 0.5 # 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 = 3.0 # 推板推出后到重启传动带时间
# ===================== 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
# 控件映射
self.CONVEYOR1 = 'conveyor1'
self.PUSHER = 'pusher'
self.CONVEYOR2 = 'conveyor2'
@ -28,10 +50,9 @@ class RelayController:
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.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}
}
self.read_status_command = {
@ -39,7 +60,6 @@ class RelayController:
'sensors': '000000000006010200000008'
}
self.device_bit_map = {
self.CONVEYOR1: 0,
self.PUSHER: 1,
@ -50,7 +70,7 @@ class RelayController:
self.sensor_bit_map = {
self.SENSOR1: 0,
self.SENSOR2: 1,#
self.SENSOR2: 1,
}
self.device_name_map = {
@ -66,27 +86,21 @@ class RelayController:
self.SENSOR2: '位置传感器2',
}
# 传感器状态变量
# ===================== 状态控制变量 =====================
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
self.required_codes = {'0101', '0103'} # 有效状态码（传感器1）
self.required_codes_1 = {'0102', '0103'} # 有效状态码（传感器2）
# 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
# ===================== 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):
@ -113,6 +127,7 @@ class RelayController:
def trigger_alarm(self):
print("警告：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'):
command = self.read_status_command.get(command_type)
if not command:
@ -126,7 +141,6 @@ class RelayController:
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
@ -175,36 +189,28 @@ class RelayController:
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）
"""
def is_valid_sensor_status(self, sensor_name):
stable_count = 0
for _ in range(int(self.stable_duration / self.poll_interval)):
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:
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:
if stable_count >= self.sensor_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)
time.sleep(self.sensor1_loop_delay)
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）
"""
def is_valid_sensor_status_1(self, sensor_name):
stable_count = 0
for _ in range(int(self.stable_duration / self.poll_interval)):
for _ in range(int(self.sensor_stable_duration / self.sensor2_loop_delay)):
responses = self.get_all_sensor_responses('sensors')
response = responses.get(sensor_name)
@ -215,149 +221,109 @@ class RelayController:
status_code = self.parse_status_code(response)
if status_code in self.required_codes_1:
stable_count += 1
if stable_count >= self.max_attempts:
if stable_count >= self.sensor_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)
time.sleep(self.sensor2_loop_delay)
return False
# ===================== 动作控制方法 =====================
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)
self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
time.sleep(self.delay_conveyor)
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)
self.send_command(self.valve_commands[self.PUSHER]['open'])
time.sleep(self.delay_pusher)
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)
self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
time.sleep(self.delay_conveyor)
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)
self.send_command(self.valve_commands[self.CLAMP]['open'])
time.sleep(self.delay_clamp)
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)
self.send_command(self.valve_commands[self.PUSHER1]['open'])
time.sleep(self.delay_pusher)
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)
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)
# ===================== 传感器处理线程 =====================
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
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）
# 1.停止包装机皮带电机：关闭 conveyor1
self.close(conveyor1=True)
time.sleep(0.5)
# 2. 推板开启
time.sleep(self.delay_conveyor)
# 2.推板开启：推出去动作
self.open(pusher=True)
time.sleep(0.1)
time.sleep(self.delay_pusher)
self.close(pusher=True)
# 2结束
time.sleep(3) # 保持 3 秒
# 3. 包装机皮带电机开启
# 推板推出后重新启动电机时间传送带1延时
time.sleep(self.delay_after_pusher)
# 3.重新开启包装机皮带电机: 开启conveyor1
self.open(conveyor1=True)
time.sleep(0.5)
# 4. 推板关闭
#self.close(pusher=True)
time.sleep(self.delay_conveyor)
# 4.推板关闭：推板收回来动作
self.open(pusher1=True)
time.sleep(0.1)
time.sleep(self.delay_pusher)
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")
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")
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)
time.sleep(self.sensor1_loop_delay)
except Exception as e:
print(f"SENSOR1 处理错误: {e}")
self.sensor1_triggered = False
time.sleep(1)
time.sleep(self.sensor1_error_delay)
#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.motor_stopped_by_sensor2 = True
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)
time.sleep(self.sensor2_loop_delay)
except Exception as e:
self.log_signal.emit(logging.ERROR, f"🔴 SENSOR2 处理错误: {e}")
time.sleep(1)
print(f"SENSOR2 处理错误: {e}")
time.sleep(self.sensor2_error_delay)
# ===================== 线程控制方法 =====================
def start(self):
if self._running:
print("线程已经在运行")
@ -398,4 +364,4 @@ if __name__ == '__main__':
while True:
time.sleep(1)
except KeyboardInterrupt:
controller.stop()
controller.stop()

401
EMV/EMV_old_save.py Normal file
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@ -0,0 +1,401 @@
#!/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()

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EMV/EMV_reneer.py → EMV/EMV_reneer_pengqi_save.py
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EMV/ALL_test.py → EMV/all_sensors_device_test.py
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