wire_controlsystem/robot/util_time.py

# !/usr/bin/python3
"""
# @Time    : 2025/12/12 11:05
# @Author  : reenrr
# @File    : util_time.py
# @Desc    :
"""
import time

class MyTimer:
    @staticmethod
    def gMyGetTickCount():
        """
        获取当前系统时间的毫秒级时间戳
        """
        ts = time.time()
        return int(ts * 1000)  # Convert to milliseconds

# 通断延时器类
class CTon:
    def __init__(self):
        self.m_unET = 0
        self.m_bLastI = False
        self.m_bIn = False
        self.m_bPause = False
        self.m_bOver = True
        self.m_unPT = 0
        self.m_unStartTime = 0
        self.m_unPauseET = 0

    def GetET(self):
        """
        获取当前已流逝的延时时间
        """
        if self.m_bIn:
            nET = self.m_unPT + (self.m_unStartTime - MyTimer.gMyGetTickCount())
            return max(nET, 0)
        else:
            return 0

    def SetReset(self):
        """
        复位TON所有状态属性，终止当前延时流程，恢复到初始状态，为下一次延时流程做准备
        """
        self.m_bIn = False
        self.m_bLastI = False
        self.m_bPause = False

    def SetPause(self, value):
        """
        设置延时暂停/恢复状态，实现延时过程的暂停与继续
        :param value: 暂停标志 True表示暂停，False表示恢复
        """
        if self.m_bIn:    # 仅当输入有效时，运行设置暂停
            self.m_bPause = value
        if self.m_bPause: # 暂停时，记录当前已流逝的延时时间，用于恢复记时补偿
            self.m_unPauseET = MyTimer.gMyGetTickCount() - self.m_unStartTime

    def SetOver(self, value):
        """
        手动设置延时完成标记
        """
        self.m_bOver = value

    def GetStartTime(self):
        """
        获取延时启动时的时间戳
        """
        return self.m_unStartTime

    def Q(self, value_i, value_pt):
        """
        触发延时逻辑，判断延时是否完成
        :param value_i: 当前输入信号，True表示输入有效，False表示无效
        :param value_pt: 延时时间，单位毫秒
        :return: True表示延时完成，False表示延时未完成
        """
        self.m_bIn = value_i
        self.m_unPT = value_pt
        un_tick = MyTimer.gMyGetTickCount()

        if self.m_bOver and self.m_bIn:
            self.m_unStartTime = un_tick - self.m_unPT
            self.m_bOver = False

        if self.m_bPause and self.m_bIn:
            self.m_unStartTime = un_tick - self.m_unPauseET

        if self.m_bIn != self.m_bLastI:
            self.m_bLastI = self.m_bIn
            if self.m_bIn:
                self.m_unStartTime = un_tick
            self.m_bPause = False

        return self.m_bIn and (un_tick >= (self.m_unStartTime + self.m_unPT))

# 时钟脉冲类
class CClockPulse:
    def __init__(self):
        self.m_bFirstOut = True    # 首次输出标记
        self.m_bTonAOut = False    # 延时器A的输出状态
        self.m_bTonBOut = False    # 延时器B的输出状态
        self.m_cTonA = CTon()      # 延时器A
        self.m_cTonB = CTon()      # 延时器B

    def Q(self, value_i, run_time, stop_time):
        """
        生成周期性脉冲信号，返回当前脉冲输出状态
        :param value_i: 输入信号，True表示输入有效，False表示无效
        :param run_time: 运行时间，单位毫秒
        :param stop_time: 停止时间，单位毫秒
        :return: True表示脉冲输出有效，False表示脉冲输出无效
        """
        if self.m_bFirstOut:   # 首次输出：按照[运行时间->停止时间]的顺序生成脉冲
            self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, run_time)
            self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, stop_time)
            return not self.m_bTonAOut and value_i
        else:                  # 非首次输出：循环交替[停止时间->运行时间]，生成周期性脉冲
            self.m_bTonAOut = self.m_cTonA.Q(not self.m_bTonBOut and value_i, stop_time)
            self.m_bTonBOut = self.m_cTonB.Q(self.m_bTonAOut and value_i, run_time)
            return self.m_bTonAOut and value_i

# 延时输出类，显示先等待，后输出，输出完成后自动复位的逻辑
class CDelayOut:
    def __init__(self):
        self.m_cOutTon = CTon()
        self.m_cmWaitTon = CTon()

    def Reset(self):
        """
        复位两个延时器的所有状态
        """
        self.m_cOutTon.SetReset()
        self.m_cmWaitTon.SetReset()

    def Q(self, value_i, wait_time, out_time):
        """
        实现等待->输出->复位的闭环逻辑
        :param value_i: 输入信号，True表示输入有效，False表示无效
        :param wait_time: 等待时间，单位毫秒
        :param out_time: 输出时间，单位毫秒
        """
        if self.m_cmWaitTon.Q(value_i, wait_time):
            if self.m_cOutTon.Q(True, out_time):
                self.m_cOutTon.SetReset()
                self.m_cmWaitTon.SetReset()
                value_i = False
                return False
            return True
        return False

# 边沿检测类，上升沿或下降沿触发
class CRisOrFall:
    def __init__(self):
        self.m_bTemp = False

    def Q(self, value_i, ris_or_fall):
        """
        边沿检测方法：检测输入信号的上升沿或下降沿，返回检测结果
        """
        result = False
        if value_i != self.m_bTemp:
            if ris_or_fall and value_i:  # Rising edge
                result = True
            if not ris_or_fall and not value_i:  # Falling edge
                result = True
        self.m_bTemp = value_i
        return result

# 断通电延时器类
class CTof:
    def __init__(self):
        self.m_cDelayTon = CTon()
        self.m_bValue = False
        self.m_cRis = CRisOrFall()

    def SetReset(self):
        self.m_bValue = False
        self.m_cDelayTon.SetReset()

    def Q(self, value_i, delay_time):
        if self.m_cRis.Q(value_i, False):
            self.m_cDelayTon.SetReset()
            self.m_bValue = True
        if self.m_cDelayTon.Q(self.m_bValue, delay_time):
            self.m_bValue = False
            self.m_cDelayTon.SetReset()
        return value_i or self.m_bValue

# Utility function
def gGetNowTime():
    return int(time.time())