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最新版本密胺计量代码

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pengqi
2025-09-30 14:57:14 +08:00
parent c31aab594d
commit 6833bb7973
16 changed files with 767 additions and 1017 deletions
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49
Controller.py
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@ -51,11 +51,16 @@ class Controller:
def start(self):
self.running = True
# 创建线程列表（包含5个并发任务）
threads = [
# 线程1：重量读取循环
threading.Thread(target=self._weight_reading_loop),
threading.Thread(target=self._control_loop),
threading.Thread(target=self.network.start_server),
# 线程4：振动控制
threading.Thread(target=self._control_vibrate),
# 线程5：看门狗线程（未使用thread()包装）
self.watchdog
]
for t in threads:
@ -65,26 +70,27 @@ class Controller:
def _weight_reading_loop(self):
while self.running:
if self.sensor.read_weight():
with self.sensor.lock:
self.current_weight = self.sensor.current_weight
with self.status_lock:
with self.sensor.lock: # 进入上下文，获取锁 获取传感器数据锁
self.current_weight = self.sensor.current_weight # 在锁保护下操作共享数据
# 退出上下文，自动释放锁
with self.status_lock: # 获取传感器状态锁
self.network.status['current_weight'] = self.current_weight
if self.current_weight >= self.network.status['target_weight']:
self.network.status['measuring'] = False
self.network.status['start_weighting'] = False
self.network.status['weighting_isok'] = True
self.network.status['weighting_isok'] = True # 标记称重完成
if self.network.status['set_tare'] == True:
if self.sensor.tare():
self.network.status['set_tare_num_time'] += 1
if self.network.status['set_tare'] == True: # 检查是否需要执行去皮操作
if self.sensor.tare(): # 执行传感器去皮
self.network.status['set_tare_num_time'] += 1 # 增加去皮计数器
self.network.status['set_tare'] = False
# 主动获取重量请求处理
if self.network.status['get_weight'] == True:
with self.sensor.lock:
self.network.status['current_weight'] = self.sensor.current_weight
self.network.status['get_weight'] = False
time.sleep(0.05) # 20Hz
time.sleep(0.05) # 控制循环频率为20Hz（每秒20次循环）
# time.sleep(0.1) # 20Hz
def _control_loop(self):
@ -92,24 +98,24 @@ class Controller:
with self.status_lock:
measuring = self.network.status['measuring']
target = self.network.status['target_weight']
algorithm = self.network.status['algorithm']
direction_control = self.network.status['direction_control']
if direction_control== True: # 步进电机方向控制
self.gpio._write_value(12, 1)
algorithm = self.network.status['algorithm'] # 使用的控制算法类型
direction_control = self.network.status['direction_control'] # 电机方向控制标志
if direction_control == True: # 步进电机方向控制
self.gpio._write_value(12, 1) # 电机方向
self.network.status['direction_control'] = False
if measuring:
self._select_algorithm(algorithm)
self._select_algorithm(algorithm) # 选择控制算法
speed, error = self.algorithm.calculate_speed(self.current_weight, target)
rpm = speed # 假设速度单位直接对应RPM
pulse_rate = (int(self.config['gpio']['pulse_per_rev']) * rpm) / 60
self.gpio.set_speed(8, pulse_rate, error)
rpm = speed # 假设速度单位直接对应RPM（转/分钟）
pulse_rate = (int(self.config['gpio']['pulse_per_rev']) * rpm) / 60 # 计算脉冲频率
self.gpio.set_speed(8, pulse_rate, error) # 电机驱动
else:
self.gpio.set_speed(8, 0, 0)
while not self.running and not self.network.status['measuring']:
time.sleep(0.1) # 短暂休眠，避免CPU占用过高
time.sleep(0.1)
time.sleep(0.1) # 以10hz的频率运行
def _control_vibrate(self): # 振动控制
while self.running:
@ -124,7 +130,8 @@ class Controller:
self.network.status['set_vibrate'] = False
self.network.status['set_vibrate_time'] = 0
self.network.status['vibrate_isok'] = True
time.sleep(1)
time.sleep(1) # 每秒检查一次振动请求
def _select_algorithm(self, name):
if name == 'pid':
params = self.config['algorithm']['params']['pid']
@ -145,8 +152,8 @@ class Controller:
if not threads_alive:
logger.critical("检测到线程异常，触发紧急停止！")
self.emergency_stop()
break
self.emergency_stop() # 执行紧急停止操作
break # 退出看门狗循环
time.sleep(5)