密胺计量程序

Controller.py

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+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2025/2/18 10:11
+# @Author  : hjw
+# @File    : controller.py
+'''
+
+import time
+import threading
+import logging
+from Network import NetworkHandler
+from ControlAlgor import PIDAlgorithm, FuzzyLogicAlgorithm
+from Gpio import GPIOManager
+from tool import parse_config
+from RS485 import RS485Reader
+
+
+# 配置日志系统
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
+    handlers=[
+        logging.FileHandler('controller.log'),
+        logging.StreamHandler()
+    ]
+)
+logger = logging.getLogger(__name__)
+
+
+class Controller:
+    def __init__(self, config_path='./config.yaml'):
+
+        self.config = parse_config(config_path)
+
+        # 初始化组件
+        self.gpio = GPIOManager(self.config)
+        self.sensor = RS485Reader(self.config)
+        self.network = NetworkHandler(self.config)
+        self.algorithm = None
+        self.running = False
+
+        # 共享状态
+        self.current_weight = 0
+        self.target_weight = 0
+        self.system_status = 'idle'
+        self.status_lock = threading.Lock()
+
+        # 看门狗线程
+        self.watchdog = threading.Thread(target=self._watchdog, daemon=True)
+
+    def start(self):
+        self.running = True
+        threads = [
+            threading.Thread(target=self._weight_reading_loop),
+            threading.Thread(target=self._control_loop),
+            threading.Thread(target=self.network.start_server),
+            threading.Thread(target=self._control_vibrate),
+            self.watchdog
+        ]
+        for t in threads:
+            t.start()
+        logger.info("系统启动完成")
+
+    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:
+                    self.network.status['current_weight'] = self.current_weight
+                if self.current_weight >= self.network.status['target_weight']:
+                    self.network.status['measuring'] = False
+
+            if self.network.status['set_tare'] == True:
+                if self.sensor.tare():
+                    self.network.status['set_tare_num_time'] +=1
+                    self.network.status['set_tare'] = False
+
+            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(0.1)  # 20Hz
+
+    def _control_loop(self):
+        while self.running:
+            with self.status_lock:
+                measuring = self.network.status['measuring']
+                target = self.network.status['target_weight']
+                algorithm = self.network.status['algorithm']
+
+            if measuring:
+                self._select_algorithm(algorithm)
+                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)
+            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)
+
+    def _control_vibrate(self):                  # 振动控制
+        while self.running:
+            with self.status_lock:
+                vibrating = self.network.status['set_vibrate']
+                vibrate_time = self.network.status['set_vibrate_time']
+
+            if vibrating:
+                self.gpio._write_value(9, 1)   #self.gpio.set_speed(8, pulse_rate)
+                time.sleep(vibrate_time)
+                self.gpio._write_value(9, 0)
+                self.network.status['set_vibrate'] = False
+                self.network.status['set_vibrate_time'] = 0
+            time.sleep(1)
+    def _select_algorithm(self, name):
+        if name == 'pid':
+            params = self.config['algorithm']['params']['pid']
+            self.algorithm = PIDAlgorithm(**params)
+        elif name == 'fuzzy':
+            self.algorithm = FuzzyLogicAlgorithm()
+        else:
+            self.algorithm = PIDAlgorithm()
+
+    def _watchdog(self):
+        while self.running:
+            # 检查线程状态
+            threads_alive = all([
+                threading.current_thread().is_alive(),
+                self.sensor.running,
+                self.network.running
+            ])
+
+            if not threads_alive:
+                logger.critical("检测到线程异常，触发紧急停止！")
+                self.emergency_stop()
+                break
+
+            time.sleep(5)
+
+    def emergency_stop(self):
+        with self.status_lock:
+            self.network.status['measuring'] = False
+            self.network.status['error'] = 'emergency_stop'
+        self.gpio.cleanup()
+        self.sensor.stop()
+        self.running = False
+        logger.info("系统已紧急停止")
+
+    def shutdown(self):
+        self.running = False
+        self.gpio.cleanup()
+        self.sensor.stop()
+        self.network.running = False
+        logger.info("系统正常关闭")