401 lines
16 KiB
Python
401 lines
16 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
|
||
|
||
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() |