修改步进电机接口、通讯方式和EMV的接口
This commit is contained in:
@ -49,19 +49,19 @@ valve_commands = {
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'close': '000000000006010500020000',
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},
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ABSORB_SOLENOID_VALVE2: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050003FF00',
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'close': '000000000006010500030000',
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},
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ABSORB_SOLENOID_VALVE3: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050004FF00',
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'close': '000000000006010500040000',
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},
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ABSORB_SOLENOID_VALVE4: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050005FF00',
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'close': '000000000006010500050000',
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},
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ABSORB_SOLENOID_VALVE5: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050006FF00',
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'close': '000000000006010500060000',
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}
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}
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518
EMV/EMV_test.py
518
EMV/EMV_test.py
@ -1,37 +1,37 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/8 16:52
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# @Time : 2025/12/12 14:39
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# @Author : reenrr
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# @File : EMV_test.py
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# @Desc : 网络继电器控制输入、输出设备测试程序
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# @File : EMV.py
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# @Desc : 网络继电器控制输入、输出设备 修改了接口，需测试
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'''
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import socket
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import binascii
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import time
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from threading import Event, Lock
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import threading
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import logging
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from typing import Union
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# 网络继电器的 IP 和端口
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HOST = '192.168.5.18'
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PORT = 50000
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# 控件命名映射
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SOLENOID_VALVE1 = 'solenoid_valve1' # 控制排料机构NG时的电磁阀1
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SOLENOID_VALVE2 = 'solenoid_valve2' # 控制排料机构NG时的电磁阀2
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ABSORB_SOLENOID_VALVE1 = 'absorb_solenoid_valve1' # 控制吸取设备的电磁阀1
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ABSORB_SOLENOID_VALVE2 = 'absorb_solenoid_valve2' # 控制吸取设备的电磁阀2
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ABSORB_SOLENOID_VALVE3 = 'absorb_solenoid_valve3' # 控制吸取设备的电磁阀3
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ABSORB_SOLENOID_VALVE4 = 'absorb_solenoid_valve4' # 控制吸取设备的电磁阀4
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ABSORB_SOLENOID_VALVE5 = 'absorb_solenoid_valve5' # 控制吸取设备的电磁阀5
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SOLENOID_VALVE1 = 'solenoid_valve1' # 控制排料机构NG时的电磁阀1
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SOLENOID_VALVE2 = 'solenoid_valve2' # 控制排料机构NG时的电磁阀2
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ABSORB_SOLENOID_VALVE1 = 'absorb_solenoid_valve1' # 控制吸取设备的电磁阀1
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ABSORB_SOLENOID_VALVE2 = 'absorb_solenoid_valve2' # 控制吸取设备的电磁阀2
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ABSORB_SOLENOID_VALVE3 = 'absorb_solenoid_valve3' # 控制吸取设备的电磁阀3
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ABSORB_SOLENOID_VALVE4 = 'absorb_solenoid_valve4' # 控制吸取设备的电磁阀4
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ABSORB_SOLENOID_VALVE5 = 'absorb_solenoid_valve5' # 控制吸取设备的电磁阀5
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# 传感器命名映射
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CONVEYOR1_SENSOR = 'conveyor1_sensor' # 传送带1的行程开关
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CONVEYOR2_SENSOR = 'conveyor2_sensor' # 传送带2的行程开关
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PRESS_SENSOR1 = 'press_sensor1' # 传送带1旁边的按压开关1
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PRESS_SENSOR2 = 'press_sensor2' # 传送带1旁边的按压开关2
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FIBER_SENSOR = 'fiber_sensor' # 传送带1旁边的光纤传感器
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CONVEYOR1_SENSOR = 'conveyor1_sensor' # 传送带1的行程开关
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CONVEYOR2_SENSOR = 'conveyor2_sensor' # 传送带2的行程开关
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PRESS_SENSOR1 = 'press_sensor1' # 传送带1旁边的按压开关1
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PRESS_SENSOR2 = 'press_sensor2' # 传送带1旁边的按压开关2
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FIBER_SENSOR = 'fiber_sensor' # 传送带1旁边的光纤传感器
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# 控件控制报文
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valve_commands = {
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@ -48,19 +48,19 @@ valve_commands = {
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'close': '000000000006010500020000',
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},
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ABSORB_SOLENOID_VALVE2: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050003FF00',
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'close': '000000000006010500030000',
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},
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ABSORB_SOLENOID_VALVE3: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050004FF00',
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'close': '000000000006010500040000',
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},
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ABSORB_SOLENOID_VALVE4: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050005FF00',
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'close': '000000000006010500050000',
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},
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ABSORB_SOLENOID_VALVE5: {
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'open': '00000000000601050002FF00',
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'open': '00000000000601050006FF00',
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'close': '000000000006010500060000',
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}
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}
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@ -80,7 +80,6 @@ device_bit_map = {
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ABSORB_SOLENOID_VALVE3: 4,
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ABSORB_SOLENOID_VALVE4: 5,
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ABSORB_SOLENOID_VALVE5: 6
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}
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device_name_map = {
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@ -111,50 +110,77 @@ sensor_name_map = {
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CONVEYOR2_SENSOR: '传送带2开关'
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}
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# -------------全局事件-------------
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press_sensors_triggered = Event()
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fiber_triggered = Event() # 光纤传感器触发事件
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fiber_lock = Lock() # 线程锁，保护共享变量
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valve1_open_flag = False # 电磁阀1打开标志
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class RelayController:
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def __init__(self):
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"""初始化继电器控制器"""
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self.socket = None
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self.sock = None
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self.is_connected = False # 长连接状态标记
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# 线程相关状态
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self.fiber_thread = None # 保存光纤传感器线程对象
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self.fiber_monitor_running = False # 光纤传感器监听线程运行标志
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def connect(self) -> bool:
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"""
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建立长连接
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:return: True-连接成功，False-连接失败
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"""
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if not self.is_connected:
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try:
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.sock.settimeout(3)
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self.sock.connect((HOST, PORT))
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self.is_connected = True
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print(f"长连接建立成功：{HOST}:{PORT}")
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return True
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except Exception as e:
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print(f"长连接建立失败：{e}")
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self.sock = None
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self.is_connected = False
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return False
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return True
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self.press_sensors_thread = None # 保存按压开关线程对象
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self.press_sensors_monitor_running = False # 按压传感器监听线程运行标志
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self.last_press_sensor_status = False # 记录传感器上一次状态，初始为无信号（用于上升沿检测）
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def disconnect(self):
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"""断开长连接"""
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if self.sock and self.is_connected:
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try:
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self.sock.shutdown(socket.SHUT_RDWR)
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self.sock.close()
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print("长连接已正常断开")
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except Exception as e:
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print(f"断开长连接时出现异常:{e}")
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finally:
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self.sock = None
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self.is_connected = False
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def send_command(self, command):
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def send_command(self, command: str) -> Union[bytes, bool]:
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"""
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将十六进制字符串转换为字节数据并发送
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:param command: 十六进制字符串
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:return: 响应字节数据 / False
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"""
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try:
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byte_data = binascii.unhexlify(command)
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# 创建套接字并连接到继电器
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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sock.connect((HOST, PORT))
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sock.send(byte_data)
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# 接收响应
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response = sock.recv(1024)
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# logging.info(f"收到响应: {binascii.hexlify(response)}")
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# 校验响应
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return response
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except Exception as e:
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logging.info(f"通信错误: {e}")
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if not self.is_connected or not self.sock:
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print("长连接未建立，无法发送指令")
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return False
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def get_all_device_status(self, command_type='devices'):
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try:
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byte_data = binascii.unhexlify(command)
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self.sock.sendall(byte_data) # sendall确保数据全部发送
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# 接收响应
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response = self.sock.recv(1024)
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if not response:
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logging.warning("长连接接收空响应，可能连接已断开")
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self.is_connected = False
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return False
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# print(f"收到响应: {binascii.hexlify(response)}")
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# 校验响应
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return response
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except socket.timeout:
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print("长连接发送/接收超时")
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self.is_connected = False
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return False
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except Exception as e:
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print(f"通信错误: {e}")
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self.is_connected = False
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return False
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def get_all_device_status(self, command_type: str='devices') -> dict[str, bool]:
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"""
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获取所有设备/传感器状态
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:param command_type: 'devices'（控件） / 'sensors'（传感器）
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@ -162,7 +188,7 @@ class RelayController:
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"""
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command = read_status_command.get(command_type)
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if not command:
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logging.info(f"未知的读取类型: {command_type}")
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print(f"未知的读取类型: {command_type}")
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return {}
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response = self.send_command(command)
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@ -179,295 +205,143 @@ class RelayController:
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bit_map = sensor_bit_map
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name_map = sensor_name_map
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else:
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logging.info("不支持的映射类型")
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return{}
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print("不支持的映射类型")
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return {}
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for key, bit_index in bit_map.items():
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state = status_bin[bit_index] == '1'
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status_dict[key] = state
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# readable = "开启" if state else "关闭"
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# logging.info(f"{device.capitalize()} 状态: {readable}")
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# print(f"{device.capitalize()} 状态: {readable}")
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else:
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logging.info("读取状态失败或响应无效")
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print("读取状态失败或响应无效")
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return status_dict
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def get_device_status(self, device_name, command_type='devices'):
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def set_device(self, device_name: str, state: bool):
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"""
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获取单个控件/传感器状态
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:param device_name:设备名称
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:param command_type: 'devices'/'sensors'
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:return:True(开启) / False(关闭) / None(无法读取)
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设置指定输出设备（DO）的开关状态
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:param device_name: 设备名称
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:param state: 目标状态 True--打开 FALSE--关闭
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"""
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status = self.get_all_device_status(command_type)
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return status.get(device_name, None)
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if device_name not in valve_commands:
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raise ValueError(f"未知设备：{device_name}")
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def open(self, solenoid_valve1=False, solenoid_valve2=False, absorb_solenoid_valve1=False,
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absorb_solenoid_valve2=False, absorb_solenoid_valve3=False, absorb_solenoid_valve4=False,
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absorb_solenoid_valve5=False):
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"""
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根据状态决定是否执行开操作
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:param solenoid_valve1:是否打开电磁阀1
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:param solenoid_valve2:是否打开电磁阀2
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:param absorb_solenoid_valve1:是否打开吸取装置电磁阀1
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:param absorb_solenoid_valve2:是否打开吸取装置电磁阀2
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:param absorb_solenoid_valve3:是否打开吸取装置电磁阀3
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:param absorb_solenoid_valve4:是否打开吸取装置电磁阀4
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:param absorb_solenoid_valve5:是否打开吸取装置电磁阀5
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try:
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current = self.get_all_device_status()
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is_on = current.get(device_name, False)
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:return:
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"""
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global valve1_open_time, valve1_open_flag
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status = self.get_all_device_status()
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if state and not is_on:
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self.send_command(valve_commands[device_name]['open'])
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elif not state and is_on:
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self.send_command(valve_commands[device_name]['close'])
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if solenoid_valve1 and not status.get(SOLENOID_VALVE1, False):
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print("打开电磁阀1")
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self.send_command(valve_commands[SOLENOID_VALVE1]['open'])
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# 记录电磁阀1打开时的时间戳和标志
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with fiber_lock:
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valve1_open_time = time.time()
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valve1_open_flag = True
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if solenoid_valve2 and not status.get(SOLENOID_VALVE2, False):
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print("打开电磁阀2")
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self.send_command(valve_commands[SOLENOID_VALVE2]['open'])
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if absorb_solenoid_valve1 and not status.get(ABSORB_SOLENOID_VALVE1, False):
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print("打开吸取装置电磁阀1")
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self.send_command(valve_commands[ABSORB_SOLENOID_VALVE1]['open'])
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time.sleep(1) # 实际测试需要考虑这个延时是否合适
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if absorb_solenoid_valve2 and not status.get(ABSORB_SOLENOID_VALVE2, False):
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print("打开吸取装置电磁阀2")
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self.send_command(valve_commands[ABSORB_SOLENOID_VALVE2]['open'])
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time.sleep(1) # 实际测试需要考虑这个延时是否合适
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if absorb_solenoid_valve3 and not status.get(ABSORB_SOLENOID_VALVE3, False):
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print("打开吸取装置电磁阀3")
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self.send_command(valve_commands[ABSORB_SOLENOID_VALVE3]['open'])
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time.sleep(1) # 实际测试需要考虑这个延时是否合适
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if absorb_solenoid_valve4 and not status.get(ABSORB_SOLENOID_VALVE4, False):
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print("打开吸取装置电磁阀4")
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self.send_command(valve_commands[ABSORB_SOLENOID_VALVE4]['open'])
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time.sleep(1) # 实际测试需要考虑这个延时是否合适
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if absorb_solenoid_valve5 and not status.get(ABSORB_SOLENOID_VALVE5, False):
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print("打开吸取装置电磁阀5")
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self.send_command(valve_commands[ABSORB_SOLENOID_VALVE5]['open'])
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time.sleep(1) # 实际测试需要考虑这个延时是否合适
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# 根据状态决定是否执行关操作
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def close(self, solenoid_valve1=False, solenoid_valve2=False, absorb_solenoid_valve1=False,
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absorb_solenoid_valve2=False, absorb_solenoid_valve3=False, absorb_solenoid_valve4=False,
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absorb_solenoid_valve5=False):
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"""
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根据状态决定是否执行关操作
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:param solenoid_valve1:是否关闭电磁阀1
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:param solenoid_valve2:是否关闭电磁阀2
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:param absorb_solenoid_valve1:是否关闭吸取电磁阀1
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:param absorb_solenoid_valve2:是否关闭吸取电磁阀2
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:param absorb_solenoid_valve3:是否关闭吸取电磁阀3
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:param absorb_solenoid_valve4:是否关闭吸取电磁阀4
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:param absorb_solenoid_valve5:是否关闭吸取电磁阀5
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:return:
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"""
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global valve1_open_flag
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status = self.get_all_device_status()
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if solenoid_valve1 and status.get(SOLENOID_VALVE1, True):
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print("关闭电磁阀1")
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self.send_command(valve_commands[SOLENOID_VALVE1]['close'])
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# 重置电磁阀1打开标志
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with fiber_lock:
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valve1_open_flag = False
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if solenoid_valve2 and status.get(SOLENOID_VALVE2, True):
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print("关闭电磁阀2")
|
||||
self.send_command(valve_commands[SOLENOID_VALVE2]['close'])
|
||||
|
||||
if absorb_solenoid_valve1 and status.get(ABSORB_SOLENOID_VALVE1, True):
|
||||
print("关闭吸取装置电磁阀1")
|
||||
self.send_command(valve_commands[ABSORB_SOLENOID_VALVE1]['close'])
|
||||
time.sleep(1) # 实际测试需要考虑这个延时是否合适
|
||||
|
||||
if absorb_solenoid_valve2 and status.get(ABSORB_SOLENOID_VALVE2, True):
|
||||
print("关闭吸取装置电磁阀2")
|
||||
self.send_command(valve_commands[ABSORB_SOLENOID_VALVE2]['close'])
|
||||
time.sleep(1) # 实际测试需要考虑这个延时是否合适
|
||||
|
||||
if absorb_solenoid_valve3 and status.get(ABSORB_SOLENOID_VALVE3, True):
|
||||
print("关闭吸取装置电磁阀3")
|
||||
self.send_command(valve_commands[ABSORB_SOLENOID_VALVE3]['close'])
|
||||
time.sleep(1) # 实际测试需要考虑这个延时是否合适
|
||||
|
||||
if absorb_solenoid_valve4 and status.get(ABSORB_SOLENOID_VALVE4, True):
|
||||
print("关闭吸取装置电磁阀4")
|
||||
self.send_command(valve_commands[ABSORB_SOLENOID_VALVE4]['close'])
|
||||
time.sleep(1) # 实际测试需要考虑这个延时是否合适
|
||||
|
||||
if absorb_solenoid_valve5 and status.get(ABSORB_SOLENOID_VALVE5, True):
|
||||
print("关闭吸取装置电磁阀5")
|
||||
self.send_command(valve_commands[ABSORB_SOLENOID_VALVE5]['close'])
|
||||
time.sleep(1) # 实际测试需要考虑这个延时是否合适
|
||||
|
||||
def fiber_sensor_monitor(self):
|
||||
"""
|
||||
光纤传感器监听线程，专门检测电磁阀打开后的触发状态
|
||||
"""
|
||||
global fiber_triggered, valve1_open_flag
|
||||
logging.info("光纤传感器监听线程已启动")
|
||||
|
||||
while self.fiber_monitor_running:
|
||||
try:
|
||||
# 增加短休眠，降低CPU占用，避免错过信号
|
||||
time.sleep(0.005)
|
||||
|
||||
# 获取光纤传感器状态
|
||||
fiber_status = self.get_device_status(FIBER_SENSOR, 'sensors')
|
||||
# 检测是否检测到信号
|
||||
if fiber_status:
|
||||
with fiber_lock:
|
||||
# 检查电磁阀1是否处于打开状态
|
||||
if valve1_open_flag:
|
||||
fiber_triggered.set()
|
||||
# 防止重复触发
|
||||
time.sleep(0.1)
|
||||
fiber_triggered.clear()
|
||||
except Exception as e:
|
||||
logging.info(f"光纤传感器监听异常：{e}")
|
||||
time.sleep(0.1) # 异常时增加休眠
|
||||
|
||||
def start_fiber_monitor(self):
|
||||
"""启动光纤传感器监听线程"""
|
||||
# 检查线程是否已在运行
|
||||
if self.fiber_monitor_running or (self.fiber_thread and self.fiber_thread.is_alive()):
|
||||
logging.warning("光纤传感器监听线程已在运行，无需重复启动")
|
||||
return
|
||||
|
||||
# 启动线程
|
||||
self.fiber_monitor_running = True
|
||||
self.fiber_thread = threading.Thread(
|
||||
target=self.fiber_sensor_monitor,
|
||||
daemon=True
|
||||
)
|
||||
self.fiber_thread.start()
|
||||
logging.info("光纤传感器监听线程启动成功")
|
||||
|
||||
def stop_fiber_monitor(self):
|
||||
"""停止光纤传感器监听线程"""
|
||||
self.fiber_monitor_running = False
|
||||
# 等待线程完全退出
|
||||
if self.fiber_thread and self.fiber_thread.is_alive():
|
||||
self.fiber_thread.join(timeout=1)
|
||||
logging.info("光纤传感器监听线程已停止")
|
||||
|
||||
def press_sensors_monitor(self, check_interval=0.1):
|
||||
"""
|
||||
双压传感器监听线程
|
||||
:param check_interval: 检测间隔
|
||||
:return:
|
||||
"""
|
||||
global press_sensors_triggered
|
||||
logging.info("双压传感器监听线程已启动")
|
||||
|
||||
while self.press_sensors_monitor_running:
|
||||
try:
|
||||
# 检测两个传感器任意一个是否触发
|
||||
press_sensor1_status = self.get_device_status(PRESS_SENSOR1, 'sensors')
|
||||
press_sensor2_status = self.get_device_status(PRESS_SENSOR2, 'sensors')
|
||||
current_sensor_state = press_sensor1_status or press_sensor2_status
|
||||
|
||||
# 上升沿触发（仅从无信号-->有信号时，才触发事件）
|
||||
if current_sensor_state and not self.last_press_sensor_status:
|
||||
press_sensors_triggered.set() # 触发事件，通知主线程
|
||||
logging.info("双压传感器触发：线条已落到传送带")
|
||||
|
||||
# 更新上一次传感器状态，为下一次上升沿检测做准备
|
||||
self.last_press_sensor_status = current_sensor_state
|
||||
# 传感器检测间隔
|
||||
time.sleep(check_interval)
|
||||
except Exception as e:
|
||||
logging.info(f"双压传感器监听异常: {e}")
|
||||
time.sleep(0.1) # 异常时增加休眠
|
||||
|
||||
def start_press_sensors_monitor(self):
|
||||
"""启动双压传感器监听线程"""
|
||||
# 检查线程是否已在运行
|
||||
if self.press_sensors_monitor_running or (self.press_sensors_thread and self.press_sensors_thread.is_alive()):
|
||||
logging.warning("双压传感器监听线程已在运行，无需重复启动")
|
||||
return
|
||||
|
||||
# 启动线程
|
||||
self.press_sensors_monitor_running = True
|
||||
self.press_sensors_thread = threading.Thread(
|
||||
target=self.press_sensors_monitor,
|
||||
daemon=True
|
||||
)
|
||||
self.press_sensors_thread.start()
|
||||
logging.info("双压传感器监听线程启动成功")
|
||||
|
||||
def stop_press_sensors_monitor(self):
|
||||
"""停止光纤传感器监听线程"""
|
||||
self.press_sensors_monitor_running = False
|
||||
# 等待线程完全退出
|
||||
if self.press_sensors_thread and self.press_sensors_thread.is_alive():
|
||||
self.press_sensors_thread.join(timeout=1)
|
||||
logging.info("双压传感器监听线程已停止")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"设置设备 '{device_name}' 状态失败: {e}") from e
|
||||
|
||||
|
||||
# 全局继电器实例
|
||||
global_relay = RelayController()
|
||||
# 全局变量
|
||||
GLOBAL_RELAY = None
|
||||
|
||||
# ------------对外接口----------
|
||||
def control_solenoid():
|
||||
"""
|
||||
线条不合格场景专用：控制电磁阀+监听光纤传感器
|
||||
执行流程:启动监听-->打开电磁阀-->等待检测-->关闭电磁阀-->停止监听
|
||||
"""
|
||||
global fiber_triggered, global_relay
|
||||
# --------对外接口--------
|
||||
def init_relay():
|
||||
"""初始化网络继电器实例+建立长连接"""
|
||||
global GLOBAL_RELAY
|
||||
|
||||
try:
|
||||
# 启动光纤传感器监听线程
|
||||
global_relay.start_fiber_monitor()
|
||||
|
||||
# 重置光纤传感器触发事件，准备检测
|
||||
fiber_triggered.clear()
|
||||
|
||||
# 同时打开电磁阀1、2
|
||||
global_relay.open(solenoid_valve1=True, solenoid_valve2=True)
|
||||
logging.info("电磁阀1、2已打开")
|
||||
|
||||
# 等待线条掉落（最多等待2秒）
|
||||
timeout = 3.0
|
||||
start_time = time.time()
|
||||
fiber_detected = False
|
||||
# 等待光纤传感器触发或超时
|
||||
while time.time() - start_time < timeout:
|
||||
if fiber_triggered.is_set():
|
||||
fiber_detected = True
|
||||
logging.info("该NG线条掉入费料区")
|
||||
break
|
||||
time.sleep(0.01) # 降低CPU空转
|
||||
|
||||
if not fiber_detected:
|
||||
logging.info("出问题！！！，红外传感器未检测到线条")
|
||||
|
||||
# 关闭电磁阀1、2
|
||||
time.sleep(0.2) # 等待线条掉落
|
||||
global_relay.close(solenoid_valve1=True, solenoid_valve2=True)
|
||||
logging.info("电磁阀1、2已关闭")
|
||||
|
||||
# 停止光纤传感器监听线程
|
||||
global_relay.stop_fiber_monitor()
|
||||
GLOBAL_RELAY = RelayController()
|
||||
GLOBAL_RELAY.connect()
|
||||
|
||||
except Exception as e:
|
||||
logging.info(f"操作电磁阀失败：{str(e)}")
|
||||
# 异常时也要停止线程，避免残留
|
||||
global_relay.stop_fiber_monitor()
|
||||
raise ValueError(f"初始化失败{e}")
|
||||
|
||||
def deinit_relay():
|
||||
"""断开长连接"""
|
||||
global GLOBAL_RELAY
|
||||
|
||||
if GLOBAL_RELAY is not None:
|
||||
GLOBAL_RELAY.disconnect()
|
||||
GLOBAL_RELAY = None
|
||||
|
||||
def ng_push():
|
||||
"""NG推料流程"""
|
||||
try:
|
||||
# 同时打开电磁阀1、2
|
||||
write_do(SOLENOID_VALVE1, True)
|
||||
write_do(SOLENOID_VALVE2, True)
|
||||
print(f"电磁阀1、2已打开")
|
||||
|
||||
# 等待线条掉落
|
||||
time.sleep(0.5)
|
||||
|
||||
write_do(SOLENOID_VALVE1, False)
|
||||
write_do(SOLENOID_VALVE2, False)
|
||||
print(f"电磁阀1、2已关闭")
|
||||
|
||||
except Exception as e:
|
||||
print(f"NG推料失败:{e}")
|
||||
raise RuntimeError("NG推料流程异常") from e
|
||||
|
||||
def write_do(device_name: str, state: bool):
|
||||
"""
|
||||
控制单个数字输出设备（DO）的开关状态
|
||||
:param device_name: 设备名称
|
||||
:param state: True:打开 False：关闭
|
||||
"""
|
||||
global GLOBAL_RELAY
|
||||
if GLOBAL_RELAY is None:
|
||||
raise ValueError("未初始化实例")
|
||||
|
||||
# 验证设备是否存在
|
||||
if device_name not in device_bit_map:
|
||||
valid_devices = list(device_bit_map.keys())
|
||||
raise ValueError(f"无效的设备名 '{device_name}'。有效设备: {valid_devices}")
|
||||
|
||||
# 确保已连接
|
||||
if not GLOBAL_RELAY.is_connected:
|
||||
if not GLOBAL_RELAY.connect():
|
||||
raise RuntimeError("无法连接到网络继电器")
|
||||
|
||||
try:
|
||||
GLOBAL_RELAY.set_device(device_name, state)
|
||||
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"控制设备 '{device_name}' 失败: {e}")
|
||||
|
||||
def read_all_io() -> dict[str, dict[str, bool]]:
|
||||
"""
|
||||
读取所有DI（传感器）和DO（设备）状态
|
||||
:return: {'devices': {...}, 'sensors': {...}}
|
||||
"""
|
||||
global GLOBAL_RELAY
|
||||
if GLOBAL_RELAY is None:
|
||||
raise ValueError("未初始化")
|
||||
|
||||
try:
|
||||
devices = GLOBAL_RELAY.get_all_device_status('devices')
|
||||
sensors = GLOBAL_RELAY.get_all_device_status('sensors')
|
||||
return {'devices': devices, 'sensors': sensors}
|
||||
|
||||
except Exception as e:
|
||||
print(f"读取IO状态失败:{e}")
|
||||
raise RuntimeError("读取IO失败") from e
|
||||
|
||||
# ------------测试接口-------------
|
||||
if __name__ == '__main__':
|
||||
control_solenoid()
|
||||
init_relay()
|
||||
|
||||
write_do(SOLENOID_VALVE1, True)
|
||||
|
||||
time.sleep(5)
|
||||
|
||||
io_status = read_all_io()
|
||||
for name, status in io_status['devices'].items():
|
||||
status_str = "开启" if status else "关闭"
|
||||
print(f"{device_name_map.get(name, name)}: {status_str}")
|
||||
|
||||
deinit_relay()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -4,15 +4,17 @@
|
||||
# @Time : 2026/1/9 10:45
|
||||
# @Author : reenrr
|
||||
# @File : RK1106_server.py
|
||||
# @Desc : RK1106服务端，等待工控机调用
|
||||
# @Desc : RK1106服务端，等待工控机调用 通信为JSON格式
|
||||
'''
|
||||
import socket
|
||||
import logging
|
||||
import sys
|
||||
from test import motor_demo
|
||||
import json
|
||||
|
||||
from stepper_motor import motor_start, align_wire, cleanup, motor_stop
|
||||
|
||||
|
||||
# --------日志配置（终端+文件双输出）--------------
|
||||
# ------------日志配置（终端+文件双输出）--------------
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='%(asctime)s - %(levelname)s - %(message)s',
|
||||
@ -30,88 +32,177 @@ logging.basicConfig(
|
||||
)
|
||||
|
||||
# --------配置TCP服务端----------
|
||||
HOST = "127.0.0.1"
|
||||
HOST = "192.168.0.100"
|
||||
PORT = 8888
|
||||
|
||||
# 程序映射表（指令表示 -> 执行函数）
|
||||
PROG_MAP = {
|
||||
# "STEPPER_TEST": motor_test_demo,
|
||||
"test": motor_demo
|
||||
# 全局参数缓存
|
||||
MOTOR_CONFIG = {
|
||||
"speed": 2500, # 默认速度
|
||||
"cycle": 10.0, # 默认旋转圈数
|
||||
}
|
||||
|
||||
def parse_command(cmd_str: str) ->tuple[str, dict]:
|
||||
def handle_setting(para_type: str, para_value: str) ->dict:
|
||||
"""
|
||||
解析工控机发送的指令字符串
|
||||
:param cmd_str: 指令字符串
|
||||
:return: 指令名称，参数字典
|
||||
处理客户端发送的参数设置指令（cmd:"setting"），更新全局电机配置
|
||||
:param para_type: 要设置的参数类型，仅支持"speed"或"cycle"
|
||||
:param para_value: 参数值字符串，将尝试转换为int(speed)或float(cycle)
|
||||
:return: 标准化相应字典dict,如：
|
||||
{
|
||||
"Result": "1"表示成功，"0"表示失败,
|
||||
"ErrMsg": str # 成功提示或错误详情
|
||||
}
|
||||
"""
|
||||
# 空指令处理
|
||||
if not cmd_str or cmd_str.strip() == "":
|
||||
return "", {}
|
||||
try:
|
||||
if para_type == "speed":
|
||||
MOTOR_CONFIG["speed"] = int(para_value)
|
||||
elif para_type == "cycle":
|
||||
MOTOR_CONFIG["cycle"] = float(para_value)
|
||||
else:
|
||||
return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
|
||||
return {"Result": "1", "ErrMsg": "设置成功"}
|
||||
except ValueError as e:
|
||||
return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
|
||||
|
||||
# 分割指令标识和参数
|
||||
cmd_parts = cmd_str.strip().split("|", 1)
|
||||
prog_id = cmd_parts[0].strip()
|
||||
params = {}
|
||||
def handle_start(para_type: str, para_value: str) -> dict:
|
||||
"""
|
||||
处理启动电机指令（cmd: "start"),使用当前MOTOR_CONFIG配置运行电机
|
||||
:param para_type:为"direction"时，使用"para_value"作为临时方向
|
||||
:param para_value:为0或1
|
||||
:return: 标准化相应字典dict,如：
|
||||
{
|
||||
"Result": "1"表示成功，"0"表示失败,
|
||||
"ErrMsg": str #执行结果或异常信息
|
||||
}
|
||||
"""
|
||||
try:
|
||||
if para_type == "direction":
|
||||
direction = int(para_value)
|
||||
if direction not in (0,1):
|
||||
return {"Result": "0", "ErrMsg": "方向必须为0或1"}
|
||||
|
||||
# 解析参数（格式：param1=val1¶m2=val2）
|
||||
if len(cmd_parts) > 1 and cmd_parts[1].strip() != "":
|
||||
param_str = cmd_parts[1].strip()
|
||||
param_pairs = param_str.split("&")
|
||||
for pair in param_pairs:
|
||||
if "=" in pair:
|
||||
key, value = pair.split("=", 1) # 处理值中含=的情况
|
||||
# 类型自动转换（数字/字符串）
|
||||
try:
|
||||
params[key.strip()] = int(value.strip())
|
||||
except ValueError:
|
||||
try:
|
||||
params[key.strip()] = float(value.strip())
|
||||
except ValueError:
|
||||
params[key.strip()] = value.strip()
|
||||
motor_start(speed=MOTOR_CONFIG["speed"],
|
||||
cycle=MOTOR_CONFIG["cycle"],
|
||||
direction=direction)
|
||||
dir_str = "正向" if direction == 1 else "负向"
|
||||
return {"Result": "1", "ErrMsg": f"电机启动成功（{dir_str}）"}
|
||||
else:
|
||||
return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
|
||||
except Exception as e:
|
||||
return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
|
||||
|
||||
def handle_stop() -> dict:
|
||||
"""
|
||||
处理停止电机指令（cmd: "stop")
|
||||
:return: 标准化相应字典dict,如：
|
||||
{
|
||||
"Result": "1"表示成功，"0"表示失败,
|
||||
"ErrMsg": str #执行结果或异常信息
|
||||
}
|
||||
"""
|
||||
try:
|
||||
motor_stop()
|
||||
return {"Result": "1", "ErrMsg": "电机已停止"}
|
||||
except Exception as e:
|
||||
return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
|
||||
|
||||
def handle_align() -> dict:
|
||||
"""
|
||||
处理线条对齐（挡板一来一回）
|
||||
:return: dict
|
||||
"""
|
||||
try:
|
||||
align_wire(MOTOR_CONFIG['speed'], MOTOR_CONFIG['cycle'])
|
||||
return {"Result": "1", "ErrMsg": "处理线条对齐"}
|
||||
except Exception as e:
|
||||
return {"Result": "0", "ErrMsg": "线条对齐失败"}
|
||||
|
||||
def parse_json_command(data: str) -> dict:
|
||||
"""
|
||||
解析客户端发送的原始JSON字符串指令，并分发至对应处理函数
|
||||
:param data: 客户端发送的原始JSON字符串
|
||||
:return dict:标准化响应字典
|
||||
"""
|
||||
try:
|
||||
cmd_obj = json.loads(data.strip())
|
||||
except json.JSONDecodeError as e:
|
||||
return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
|
||||
|
||||
cmd = cmd_obj.get("cmd", "").strip()
|
||||
para_type = cmd_obj.get("para_type", "").strip()
|
||||
para_value = cmd_obj.get("para_value", "").strip()
|
||||
|
||||
if cmd == "setting":
|
||||
return handle_setting(para_type, para_value)
|
||||
elif cmd == "start":
|
||||
return handle_start(para_type, para_value)
|
||||
elif cmd == "stop":
|
||||
if para_type == "none" and para_value == "none":
|
||||
return handle_stop()
|
||||
else:
|
||||
return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
|
||||
elif cmd == "alignment":
|
||||
if para_type == "none" and para_value == "none":
|
||||
return handle_align()
|
||||
else:
|
||||
return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
|
||||
else:
|
||||
return {"Result": "0", "ErrMsg": f"未知指令：{cmd}"}
|
||||
|
||||
return prog_id, params
|
||||
|
||||
# ----------对外接口----------
|
||||
def server():
|
||||
"""启动TCP服务端，监听指定端口，接收工控机连接并循环处理JSON指令"""
|
||||
# 创建TCP socket
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
|
||||
# 允许端口复用
|
||||
server_socket = None
|
||||
conn = None
|
||||
|
||||
try:
|
||||
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||
server_socket.bind((HOST, PORT))
|
||||
server_socket.listen(1) # 只允许1个工控机连接
|
||||
logging.info(f"[1106] 服务已启动，监听端口：{PORT}，等待工控机连接...")
|
||||
|
||||
# 等待工控机连接
|
||||
conn, addr = server_socket.accept()
|
||||
with conn:
|
||||
logging.info(f"[1106] 工控机已连接：{addr}")
|
||||
# 循环接收指令
|
||||
while True:
|
||||
# 接收指令（最大1024字节）
|
||||
data = conn.recv(1024).decode()
|
||||
logging.info(f"\n[1106] 收到工控机指令：{data}")
|
||||
# 解析指令
|
||||
prog_id, params = parse_command(data)
|
||||
logging.info(f"[1106] 解析结果 - 指令：{prog_id}，参数：{params}")
|
||||
while True: # 持续接受新连接
|
||||
try:
|
||||
# 等待工控机连接
|
||||
conn, addr = server_socket.accept()
|
||||
logging.info(f"[1106] 工控机已连接：{addr}")
|
||||
|
||||
# 执行对应程序
|
||||
responses = ""
|
||||
if prog_id in PROG_MAP:
|
||||
try:
|
||||
result = PROG_MAP[prog_id](**params)
|
||||
response = f"SUCCESS|步进电机测试执行完成，结果：{result}"
|
||||
logging.info(f"[1106] {response}")
|
||||
except Exception as e:
|
||||
response = f"FAIL|步进电机测试执行失败：{str(e)}"
|
||||
logging.error(f"[1106] {response}", exc_info=True)
|
||||
else:
|
||||
response = f"FAIL|未知指令：{prog_id}，支持指令：{list(PROG_MAP.keys())}"
|
||||
logging.warning(f"[1106] {response}")
|
||||
# 循环接收指令
|
||||
while True:
|
||||
# 接收指令（最大1024字节）
|
||||
data = conn.recv(1024).decode()
|
||||
if not data:
|
||||
logging.warning("客户端断开连接")
|
||||
break
|
||||
|
||||
# 发送响应给工控机
|
||||
conn.sendall(response.encode("utf-8"))
|
||||
logging.info(f"[1106] 已发送响应：{response}")
|
||||
logging.info(f"\n[1106] 收到工控机指令：{data}")
|
||||
|
||||
# 解析指令
|
||||
response_dict = parse_json_command(data)
|
||||
response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
|
||||
|
||||
# 发送响应给工控机
|
||||
conn.sendall(response_json.encode("utf-8"))
|
||||
logging.info(f"[1106] 已发送响应：{response_json}")
|
||||
|
||||
except ConnectionError:
|
||||
logging.info("客户端异常断开")
|
||||
except Exception as e:
|
||||
logging.info(f"处理连接时发生错误: {e}")
|
||||
finally:
|
||||
if conn is not None:
|
||||
conn.close()
|
||||
conn = None # 重置，避免重复关闭
|
||||
logging.info("客户端连接已关闭，等待新连接...")
|
||||
|
||||
except KeyboardInterrupt:
|
||||
logging.info("\n收到 Ctrl+C，正在关闭服务...")
|
||||
finally:
|
||||
if server_socket:
|
||||
server_socket.close()
|
||||
logging.info("服务已停止，监听 socket 已释放")
|
||||
|
||||
# ----------测试接口----------
|
||||
if __name__ == "__main__":
|
||||
|
||||
@ -1,15 +1,14 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
'''
|
||||
# @Time : 2026/1/5 15:50
|
||||
"""
|
||||
# @Time : 2026/1/4 19:13
|
||||
# @Author : reenrr
|
||||
# @File : stepper_motor.py
|
||||
# @Desc : 控制步进电机从初始位置移动10cm,移动后回到初始位置
|
||||
'''
|
||||
# @File : stepper_motor_test1.py
|
||||
# @Desc : 线条厂控制步进电机测试 应该不会丢步
|
||||
"""
|
||||
import time
|
||||
|
||||
from periphery import GPIO
|
||||
import logging
|
||||
import os
|
||||
|
||||
# ------------参数配置-------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
@ -20,33 +19,15 @@ DIR_Pin = 33
|
||||
|
||||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
|
||||
# ------------ 日志+参数配置 ------------
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
log_file_path = os.path.join(script_dir, "stepper_motor.log")
|
||||
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='[%(asctime)s.%(msecs)03d] [%(levelname)s] %(message)s',
|
||||
datefmt='%Y-%m-%d %H:%M:%S',
|
||||
handlers=[
|
||||
logging.StreamHandler(),
|
||||
logging.FileHandler(log_file_path, encoding='utf-8')
|
||||
]
|
||||
)
|
||||
|
||||
class StepperMotor:
|
||||
"""新力川MA860H驱动器步进电机控制类"""
|
||||
# 方向常量定义
|
||||
CLOCKWISE = "clockwise" # 顺时针
|
||||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||||
|
||||
def __init__(self,
|
||||
pul_pin: int = PUL_Pin,
|
||||
dir_pin: int = DIR_Pin,
|
||||
pulses_per_round: int = PULSES_PER_ROUND,
|
||||
pulse_frequency: int = PULSE_FREQUENCY,
|
||||
clockwise_level: bool = True,
|
||||
counter_clockwise_level: bool = False):
|
||||
"""
|
||||
@ -54,7 +35,6 @@ class StepperMotor:
|
||||
:param pul_pin: 脉冲引脚
|
||||
:param dir_pin: 方向引脚
|
||||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
:param pulse_frequency: 脉冲频率（Hz，）
|
||||
:param clockwise_level: 顺时针对应的DIR电平
|
||||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||||
"""
|
||||
@ -64,7 +44,6 @@ class StepperMotor:
|
||||
|
||||
# 驱动器参数
|
||||
self.pulses_per_round = pulses_per_round
|
||||
self.pulse_frequency = pulse_frequency
|
||||
self.clockwise_level = clockwise_level
|
||||
self.counter_clockwise_level = counter_clockwise_level
|
||||
|
||||
@ -76,7 +55,7 @@ class StepperMotor:
|
||||
self._init_gpio()
|
||||
|
||||
def _init_gpio(self):
|
||||
"""初始化PUL和DIR引脚"""
|
||||
"""初始化PUL和DIR引脚（内部方法）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||||
@ -87,52 +66,48 @@ class StepperMotor:
|
||||
self.pul_gpio.write(False)
|
||||
self.dir_gpio.write(False)
|
||||
|
||||
logging.info(f"PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
logging.info(f"DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
print(f"✅ PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
print(f"✅ DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
|
||||
except PermissionError:
|
||||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
def _validate_rounds(self, rounds: float) -> bool:
|
||||
"""验证圈数是否合法（内部方法）"""
|
||||
def _validate_params(self, rounds: float, direction: int) -> bool:
|
||||
if rounds <= 0:
|
||||
logging.info("圈数必须为正数")
|
||||
print("圈数必须为正数")
|
||||
return False
|
||||
if direction not in (0, 1):
|
||||
print("方向必须为0（逆时针）或1（顺时针）")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _validate_direction(self, direction: str) -> bool:
|
||||
"""验证方向参数是否合法（内部方法）"""
|
||||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||||
logging.info(f"方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||||
def rotate(self, pulse_frequency: int, rounds: float, direction: int):
|
||||
"""
|
||||
控制电机旋转（支持正反转）
|
||||
:param pulse_frequency: 脉冲频率（hz)
|
||||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||||
:param direction: 方向（1=顺时针，0=逆时针）
|
||||
"""
|
||||
# 参数验证
|
||||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||||
if not self._validate_params(rounds, direction):
|
||||
return
|
||||
|
||||
# 设置旋转方向（DIR电平）
|
||||
if direction == self.CLOCKWISE: # 顺时针
|
||||
if direction == 1: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
logging.info(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
logging.info(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = int(rounds * self.pulses_per_round)
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
pulse_period = 1.0 / pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
logging.info(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
print(f"总脉冲数：{total_pulses} | 频率：{pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
# 发送脉冲序列（核心：占空比50%的方波）
|
||||
@ -147,13 +122,13 @@ class StepperMotor:
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
logging.info("旋转完成")
|
||||
print("✅ 旋转完成")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
logging.info("电机已停止")
|
||||
print("🛑 电机已停止")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
@ -161,12 +136,12 @@ class StepperMotor:
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
logging.info("\n PUL引脚已关闭（电平置低）")
|
||||
print("\n✅ PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
logging.info("DIR引脚已关闭（电平置低）")
|
||||
print("✅ DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
@ -176,36 +151,65 @@ class StepperMotor:
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
# ------全局实例-------
|
||||
GLOBAL_MOTOR = StepperMotor()
|
||||
|
||||
#---------控制步进电机外部接口--------------
|
||||
def stepper_motor_control():
|
||||
motor = None
|
||||
# -------对外接口----------
|
||||
def motor_start(speed: int, cycle: float, direction: int):
|
||||
"""
|
||||
开启电机，用于断电时电机恢复到起始位置
|
||||
:param speed: 脉冲频率（hz)
|
||||
:param cycle: 旋转圈数
|
||||
:param direction: 0=负向（逆时针），1=正向（顺时针）
|
||||
"""
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
logging.info("\n=== 步进电机控制程序启动 ===")
|
||||
print("\n=== 启动步进电机 ===")
|
||||
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=direction)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except ImportError:
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
|
||||
def motor_stop():
|
||||
"""紧急停止（仅停止脉冲，保留实例）"""
|
||||
try:
|
||||
if GLOBAL_MOTOR:
|
||||
GLOBAL_MOTOR.stop()
|
||||
except Exception as e:
|
||||
print("停止失败:{e}")
|
||||
|
||||
def align_wire(speed: int, cycle: float):
|
||||
"""
|
||||
使线条对齐
|
||||
:param speed: 脉冲频率（hz)
|
||||
:param cycle: 旋转圈数
|
||||
"""
|
||||
try:
|
||||
print("\n=== 启动线条对齐 ===")
|
||||
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed, rounds=cycle, direction=0)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
GLOBAL_MOTOR.rotate(pulse_frequency=speed,rounds=10.0, direction=1)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except PermissionError:
|
||||
logging.info("\n 权限不足：请用 sudo 运行！")
|
||||
logging.info("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
logging.info("\n 缺少依赖：请安装python-periphery")
|
||||
logging.info("命令：pip install python-periphery")
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
logging.info(f"\n 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
motor.close()
|
||||
logging.info("程序退出完成")
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
|
||||
def cleanup():
|
||||
"""程序退出时统一清理"""
|
||||
if GLOBAL_MOTOR:
|
||||
GLOBAL_MOTOR.close()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
stepper_motor_control()
|
||||
motor_start(2500, 10.0, 1)
|
||||
|
||||
|
||||
@ -1,159 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/1/4 15:06
|
||||
# @Author : reenrr
|
||||
# @File : stepper_motor_test.py
|
||||
# @Desc : 线条厂控制步进电机
|
||||
"""
|
||||
import time
|
||||
from periphery import GPIO
|
||||
import sys
|
||||
sys.setswitchinterval(0.000001) # 减小线程切换间隔
|
||||
|
||||
# --------------
|
||||
# 硬件参数配置（必须与你的设备匹配！）
|
||||
# --------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. LCDA257C驱动器核心参数（关键！与拨码/软件设置一致）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（按驱动器细分拨码调整）
|
||||
PULSE_FREQUENCY = 5000 # 初始测试频率（建议从500开始逐步调高）
|
||||
|
||||
# 4. LCDA257C时序参数（遵循手册要求，不可低于最小值）
|
||||
MIN_DIR_DELAY_US = 10 # DIR提前PUL的最小延迟（>8us）
|
||||
PULSE_LOW_MIN_US = 2 # 脉冲低电平最小宽度（≥2us）
|
||||
PULSE_HIGH_MIN_US = 2 # 脉冲高电平最小宽度（≥2us）
|
||||
|
||||
# 5. 方向电平定义（可根据实际测试调整）
|
||||
CLOCKWISE_LEVEL = True # 顺时针→DIR高电平
|
||||
COUNTER_CLOCKWISE_LEVEL = False # 逆时针→DIR低电平
|
||||
|
||||
|
||||
def init_stepper() -> tuple[GPIO, GPIO]:
|
||||
"""初始化PUL和DIR引脚（输出模式，适配LCDA257C）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
pul_gpio = GPIO(PUL_Pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
dir_gpio = GPIO(DIR_Pin, "out")
|
||||
|
||||
# 初始状态：脉冲低电平，方向低电平（驱动器空闲状态）
|
||||
pul_gpio.write(False)
|
||||
dir_gpio.write(False)
|
||||
|
||||
print(f"✅ PUL引脚初始化完成：{PUL_Pin}引脚")
|
||||
print(f"✅ DIR引脚初始化完成：{DIR_Pin}引脚")
|
||||
return pul_gpio, dir_gpio
|
||||
|
||||
except FileNotFoundError:
|
||||
raise RuntimeError(f"GPIO芯片不存在！检查 {PUL_Pin} 是否存在（命令：ls /dev/gpiochip*）")
|
||||
except PermissionError:
|
||||
raise RuntimeError("GPIO权限不足！请用 sudo 运行程序（sudo python test.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
|
||||
def rotate(pul_gpio: GPIO, dir_gpio: GPIO, rounds: float, direction: str = "clockwise",
|
||||
test_freq: int = PULSE_FREQUENCY):
|
||||
"""
|
||||
控制LCDA257C驱动器旋转（优化版脉冲发送，解决频率不生效问题）
|
||||
:param pul_gpio: PUL引脚GPIO对象
|
||||
:param dir_gpio: DIR引脚GPIO对象
|
||||
:param rounds: 旋转圈数（正数，可小数）
|
||||
:param direction: 方向（clockwise/counterclockwise）
|
||||
:param test_freq: 本次旋转使用的脉冲频率（覆盖全局默认值）
|
||||
"""
|
||||
# 1. 参数合法性校验
|
||||
if rounds <= 0:
|
||||
print("❌ 圈数必须为正数！")
|
||||
return
|
||||
if test_freq < 100:
|
||||
print("❌ 频率过低（≥100Hz），请调整test_freq参数！")
|
||||
return
|
||||
|
||||
# 2. 设置旋转方向（严格遵循DIR提前时序）
|
||||
if direction == "clockwise":
|
||||
dir_gpio.write(CLOCKWISE_LEVEL)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
|
||||
elif direction == "counterclockwise":
|
||||
dir_gpio.write(COUNTER_CLOCKWISE_LEVEL)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈（目标频率：{test_freq}Hz）===")
|
||||
else:
|
||||
print("❌ 方向参数错误！仅支持 clockwise/counterclockwise")
|
||||
return
|
||||
|
||||
# DIR电平设置后，延迟≥8us（满足LCDA257C时序要求）
|
||||
time.sleep(MIN_DIR_DELAY_US / 1_000_000)
|
||||
|
||||
# 3. 计算脉冲参数（确保高低电平≥最小宽度）
|
||||
total_pulses = int(rounds * PULSES_PER_ROUND)
|
||||
pulse_period = 1.0 / test_freq # 脉冲周期（秒）
|
||||
|
||||
# 确保高低电平宽度不低于驱动器要求（避免脉冲识别失败）
|
||||
high_period = max(pulse_period / 2, PULSE_HIGH_MIN_US / 1_000_000)
|
||||
low_period = max(pulse_period / 2, PULSE_LOW_MIN_US / 1_000_000)
|
||||
|
||||
# 打印参数（便于调试）
|
||||
print(f"总脉冲数：{total_pulses} | 理论高电平：{high_period * 1e6:.1f}us | 理论低电平：{low_period * 1e6:.1f}us")
|
||||
|
||||
# 4. 优化版脉冲发送（解决Python高频延时不准问题）
|
||||
start_total = time.perf_counter() # 高精度计时（统计实际频率）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平（直接sleep，避免while循环的调度延迟）
|
||||
pul_gpio.write(True)
|
||||
time.sleep(high_period)
|
||||
|
||||
# 低电平
|
||||
pul_gpio.write(False)
|
||||
time.sleep(low_period)
|
||||
end_total = time.perf_counter()
|
||||
|
||||
# 5. 计算实际频率（验证是否达到目标）
|
||||
actual_duration = end_total - start_total
|
||||
actual_freq = total_pulses / actual_duration if actual_duration > 0 else 0
|
||||
print(f"✅ 旋转完成 | 实际频率：{actual_freq:.0f}Hz | 耗时：{actual_duration:.2f}秒")
|
||||
|
||||
|
||||
def motor_test_demo():
|
||||
"""电机测试示例（逐步提升频率，验证转速变化）"""
|
||||
pul_gpio = None
|
||||
dir_gpio = None
|
||||
try:
|
||||
# 初始化引脚
|
||||
pul_gpio, dir_gpio = init_stepper()
|
||||
print("\n=== 步进电机频率测试程序启动 ===")
|
||||
|
||||
while True:
|
||||
print(f"\n===== 测试频率：{PULSE_FREQUENCY}Hz =====")
|
||||
|
||||
# 远离电机方向 顺时针
|
||||
rotate(pul_gpio, dir_gpio, rounds=10.0, direction="clockwise")
|
||||
time.sleep(5) #
|
||||
# 靠近电机方向 逆时针
|
||||
rotate(pul_gpio, dir_gpio, rounds=10.0, direction="counterclockwise")
|
||||
time.sleep(5) #
|
||||
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
finally:
|
||||
# 安全释放GPIO资源（必须执行，避免引脚电平残留）
|
||||
if pul_gpio:
|
||||
pul_gpio.write(False)
|
||||
pul_gpio.close()
|
||||
print("\n✅ PUL引脚已关闭（低电平）")
|
||||
if dir_gpio:
|
||||
dir_gpio.write(False)
|
||||
dir_gpio.close()
|
||||
print("✅ DIR引脚已关闭（低电平）")
|
||||
print("✅ 程序退出完成")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
# 运行测试demo（必须sudo执行）
|
||||
motor_test_demo()
|
||||
|
||||
@ -1,198 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
# @Time : 2026/1/4 19:13
|
||||
# @Author : reenrr
|
||||
# @File : stepper_motor_test1.py
|
||||
# @Desc : 线条厂控制步进电机测试 应该不会丢步
|
||||
"""
|
||||
import time
|
||||
from periphery import GPIO # 若未安装：pip install python-periphery
|
||||
|
||||
# ------------参数配置-------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
|
||||
class StepperMotor:
|
||||
"""新力川MA860H驱动器步进电机控制类"""
|
||||
# 方向常量定义
|
||||
CLOCKWISE = "clockwise" # 顺时针
|
||||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||||
|
||||
def __init__(self,
|
||||
pul_pin: int = PUL_Pin,
|
||||
dir_pin: int = DIR_Pin,
|
||||
pulses_per_round: int = PULSES_PER_ROUND,
|
||||
pulse_frequency: int = PULSE_FREQUENCY,
|
||||
clockwise_level: bool = True,
|
||||
counter_clockwise_level: bool = False):
|
||||
"""
|
||||
初始化步进电机控制器
|
||||
:param pul_pin: 脉冲引脚
|
||||
:param dir_pin: 方向引脚
|
||||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
:param pulse_frequency: 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
:param clockwise_level: 顺时针对应的DIR电平
|
||||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||||
"""
|
||||
# 硬件配置参数
|
||||
self.pul_pin = pul_pin
|
||||
self.dir_pin = dir_pin
|
||||
|
||||
# 驱动器参数
|
||||
self.pulses_per_round = pulses_per_round
|
||||
self.pulse_frequency = pulse_frequency
|
||||
self.clockwise_level = clockwise_level
|
||||
self.counter_clockwise_level = counter_clockwise_level
|
||||
|
||||
# GPIO对象初始化
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
# 初始化GPIO
|
||||
self._init_gpio()
|
||||
|
||||
def _init_gpio(self):
|
||||
"""初始化PUL和DIR引脚（内部方法）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
self.dir_gpio = GPIO(self.dir_pin, "out")
|
||||
|
||||
# 初始电平置低（避免电机误动作）
|
||||
self.pul_gpio.write(False)
|
||||
self.dir_gpio.write(False)
|
||||
|
||||
print(f"✅ PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
print(f"✅ DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
|
||||
except PermissionError:
|
||||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
def _validate_rounds(self, rounds: float) -> bool:
|
||||
"""验证圈数是否合法（内部方法）"""
|
||||
if rounds <= 0:
|
||||
print("❌ 圈数必须为正数")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _validate_direction(self, direction: str) -> bool:
|
||||
"""验证方向参数是否合法（内部方法）"""
|
||||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||||
print(f"❌ 方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||||
"""
|
||||
控制电机旋转（支持正反转）
|
||||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||||
"""
|
||||
# 参数验证
|
||||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||||
return
|
||||
|
||||
# 设置旋转方向（DIR电平）
|
||||
if direction == self.CLOCKWISE: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = int(rounds * self.pulses_per_round)
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
print(f"总脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
# 发送脉冲序列（核心：占空比50%的方波）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平
|
||||
self.pul_gpio.write(True)
|
||||
# 精准延时（比time.sleep稳定，适配高频脉冲）
|
||||
while time.perf_counter() - start_time < half_period:
|
||||
pass
|
||||
# 低电平
|
||||
self.pul_gpio.write(False)
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
print("✅ 旋转完成")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
print("🛑 电机已停止")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
# 安全释放GPIO资源（关键：避免引脚电平残留）
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
print("\n✅ PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
print("✅ DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
|
||||
# 使用示例
|
||||
def motor_demo():
|
||||
"""电机控制示例"""
|
||||
motor = None
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
print("\n=== 步进电机控制程序启动 ===")
|
||||
|
||||
while True:
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
|
||||
except PermissionError:
|
||||
print("\n❌ 权限不足：请用 sudo 运行！")
|
||||
print("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
print("\n❌ 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
motor.close()
|
||||
print("✅ 程序退出完成")
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
motor_demo()
|
||||
|
||||
291
RK1106/test.py
291
RK1106/test.py
@ -1,291 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
'''
|
||||
# @Time : 2026/1/5 16:18
|
||||
# @Author : reenrr
|
||||
# @File : test.py
|
||||
# @Desc : 步进电机添加记录脉冲数量（防止断电情况）
|
||||
'''
|
||||
import time
|
||||
import json
|
||||
import os
|
||||
from periphery import GPIO
|
||||
|
||||
# ------------参数配置-------------
|
||||
# 1. 脉冲（PUL）引脚配置 → GPIO32
|
||||
PUL_Pin = 32
|
||||
|
||||
# 2. 方向（DIR）引脚配置 → GPIO33
|
||||
DIR_Pin = 33
|
||||
|
||||
# 3. 驱动器参数（根据拨码调整，默认不变）
|
||||
PULSES_PER_ROUND = 400 # 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
PULSE_FREQUENCY = 2500 # 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
|
||||
# 4. 计数持久化配置
|
||||
COUNT_FILE = os.path.join(os.path.dirname(os.path.abspath(__file__)), "motor_pulse_count.json")
|
||||
SAVE_INTERVAL = 10 # 每发送10个脉冲保存一次计数（减少IO开销，可根据需求调整）
|
||||
|
||||
class StepperMotor:
|
||||
"""新力川MA860H驱动器步进电机控制类"""
|
||||
# 方向常量定义
|
||||
CLOCKWISE = "clockwise" # 顺时针
|
||||
COUNTER_CLOCKWISE = "counterclockwise" # 逆时针
|
||||
|
||||
def __init__(self,
|
||||
pul_pin: int = PUL_Pin,
|
||||
dir_pin: int = DIR_Pin,
|
||||
pulses_per_round: int = PULSES_PER_ROUND,
|
||||
pulse_frequency: int = PULSE_FREQUENCY,
|
||||
clockwise_level: bool = True,
|
||||
counter_clockwise_level: bool = False):
|
||||
"""
|
||||
初始化步进电机控制器
|
||||
:param pul_pin: 脉冲引脚
|
||||
:param dir_pin: 方向引脚
|
||||
:param pulses_per_round: 每圈脉冲数（SW5~SW8拨码，默认400）
|
||||
:param pulse_frequency: 脉冲频率（Hz，新手建议500~2000，最大200KHz）
|
||||
:param clockwise_level: 顺时针对应的DIR电平
|
||||
:param counter_clockwise_level: 逆时针对应的DIR电平
|
||||
"""
|
||||
# 硬件配置参数
|
||||
self.pul_pin = pul_pin
|
||||
self.dir_pin = dir_pin
|
||||
|
||||
# 驱动器参数
|
||||
self.pulses_per_round = pulses_per_round
|
||||
self.pulse_frequency = pulse_frequency
|
||||
self.clockwise_level = clockwise_level
|
||||
self.counter_clockwise_level = counter_clockwise_level
|
||||
|
||||
# GPIO对象初始化
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
# 脉冲计数相关（核心：记录已发送的脉冲数）
|
||||
self.current_pulse_count = 0 # 本次旋转已发送的脉冲数
|
||||
self.total_pulse_history = self._load_pulse_count() # 历史总脉冲数（从文件加载）
|
||||
self.current_rotate_target = 0 # 本次旋转的目标脉冲数
|
||||
|
||||
# 初始化GPIO
|
||||
self._init_gpio()
|
||||
|
||||
def _load_pulse_count(self):
|
||||
"""加载历史脉冲计数（程序启动时执行）"""
|
||||
try:
|
||||
if os.path.exists(COUNT_FILE):
|
||||
with open(COUNT_FILE, "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
# 返回历史总脉冲数（默认0）
|
||||
return int(data.get("total_pulses", 0))
|
||||
except Exception as e:
|
||||
print(f"[WARN] 加载历史计数失败：{e}，将从0开始计数")
|
||||
return 0
|
||||
|
||||
def _save_pulse_count(self):
|
||||
"""保存当前总脉冲数到文件（持久化）"""
|
||||
try:
|
||||
with open(COUNT_FILE, "w", encoding="utf-8") as f:
|
||||
json.dump({
|
||||
"total_pulses": self.total_pulse_history,
|
||||
"update_time": time.strftime("%Y-%m-%d %H:%M:%S", time.localtime())
|
||||
}, f, ensure_ascii=False, indent=2)
|
||||
except Exception as e:
|
||||
print(f"[ERROR] 保存计数失败：{e}")
|
||||
|
||||
def _init_gpio(self):
|
||||
"""初始化PUL和DIR引脚（内部方法）"""
|
||||
try:
|
||||
# 初始化脉冲引脚（输出模式）
|
||||
self.pul_gpio = GPIO(self.pul_pin, "out")
|
||||
# 初始化方向引脚（输出模式）
|
||||
self.dir_gpio = GPIO(self.dir_pin, "out")
|
||||
|
||||
# 初始电平置低（避免电机误动作）
|
||||
self.pul_gpio.write(False)
|
||||
self.dir_gpio.write(False)
|
||||
|
||||
print(f"[OK] PUL引脚初始化完成：{self.pul_pin} 引脚")
|
||||
print(f"[OK] DIR引脚初始化完成：{self.dir_pin} 引脚")
|
||||
print(
|
||||
f"[INFO] 历史累计脉冲数：{self.total_pulse_history} → 对应圈数：{self.total_pulse_history / self.pulses_per_round:.2f} 圈")
|
||||
|
||||
except PermissionError:
|
||||
raise RuntimeError("权限不足！请用sudo运行程序（sudo python xxx.py）")
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"GPIO初始化失败：{str(e)}") from e
|
||||
|
||||
def _validate_rounds(self, rounds: float) -> bool:
|
||||
"""验证圈数是否合法（内部方法）"""
|
||||
if rounds <= 0:
|
||||
print("[ERROR] 圈数必须为正数")
|
||||
return False
|
||||
return True
|
||||
|
||||
def _validate_direction(self, direction: str) -> bool:
|
||||
"""验证方向参数是否合法（内部方法）"""
|
||||
if direction not in [self.CLOCKWISE, self.COUNTER_CLOCKWISE]:
|
||||
print(f"[ERROR] 方向参数错误：仅支持 {self.CLOCKWISE}/{self.COUNTER_CLOCKWISE}")
|
||||
return False
|
||||
return True
|
||||
|
||||
def rotate(self, rounds: float, direction: str = CLOCKWISE):
|
||||
"""
|
||||
控制电机旋转（支持正反转，实时记录脉冲数）
|
||||
:param rounds: 旋转圈数（可小数，如0.5=半圈）
|
||||
:param direction: 方向（clockwise=顺时针，counterclockwise=逆时针）
|
||||
"""
|
||||
# 参数验证
|
||||
if not self._validate_rounds(rounds) or not self._validate_direction(direction):
|
||||
return
|
||||
|
||||
# 重置本次旋转的计数
|
||||
self.current_pulse_count = 0
|
||||
# 计算本次旋转的目标脉冲数
|
||||
self.current_rotate_target = int(rounds * self.pulses_per_round)
|
||||
|
||||
# 设置旋转方向（DIR电平）
|
||||
if direction == self.CLOCKWISE: # 顺时针
|
||||
self.dir_gpio.write(self.clockwise_level)
|
||||
print(f"\n=== 顺时针旋转 {rounds} 圈 ===")
|
||||
else: # 逆时针
|
||||
self.dir_gpio.write(self.counter_clockwise_level)
|
||||
print(f"\n=== 逆时针旋转 {rounds} 圈 ===")
|
||||
|
||||
# 计算总脉冲数和时序（精准控制，避免丢步）
|
||||
total_pulses = self.current_rotate_target
|
||||
pulse_period = 1.0 / self.pulse_frequency # 脉冲周期（秒）
|
||||
half_period = pulse_period / 2 # 占空比50%（MA860H最优）
|
||||
|
||||
print(f"目标脉冲数：{total_pulses} | 频率：{self.pulse_frequency}Hz | 周期：{pulse_period * 1000:.2f}ms")
|
||||
start_time = time.perf_counter() # 高精度计时（避免丢步）
|
||||
|
||||
try:
|
||||
# 发送脉冲序列（核心：占空比50%的方波，实时计数）
|
||||
for _ in range(total_pulses):
|
||||
# 高电平
|
||||
self.pul_gpio.write(True)
|
||||
# 精准延时（比time.sleep稳定，适配高频脉冲）
|
||||
while time.perf_counter() - start_time < half_period:
|
||||
pass
|
||||
# 低电平
|
||||
self.pul_gpio.write(False)
|
||||
# 更新下一个脉冲的起始时间
|
||||
start_time += pulse_period
|
||||
|
||||
# 🌟 核心：累加本次脉冲计数
|
||||
self.current_pulse_count += 1
|
||||
self.total_pulse_history += 1
|
||||
|
||||
# 每发送SAVE_INTERVAL个脉冲，保存一次计数（减少IO开销）
|
||||
if self.current_pulse_count % SAVE_INTERVAL == 0:
|
||||
self._save_pulse_count()
|
||||
|
||||
print(
|
||||
f"[OK] 旋转完成 → 本次发送脉冲：{self.current_pulse_count} | 累计脉冲：{self.total_pulse_history} | 累计圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
|
||||
except Exception as e:
|
||||
# 🌟 关键：异常发生时（如断电前的程序崩溃），立即保存当前计数
|
||||
self._save_pulse_count()
|
||||
# 计算已完成的圈数
|
||||
completed_rounds = self.current_pulse_count / self.pulses_per_round
|
||||
remaining_pulses = self.current_rotate_target - self.current_pulse_count
|
||||
remaining_rounds = remaining_pulses / self.pulses_per_round
|
||||
print(f"\n[ERROR] 旋转过程中异常：{e}")
|
||||
print(f"[INFO] 异常时已发送脉冲：{self.current_pulse_count} → 已完成圈数：{completed_rounds:.2f}")
|
||||
print(f"[INFO] 剩余未发送脉冲：{remaining_pulses} → 剩余圈数：{remaining_rounds:.2f}")
|
||||
print(
|
||||
f"[INFO] 累计总脉冲：{self.total_pulse_history} → 累计总圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
raise # 抛出异常，让上层处理
|
||||
|
||||
def get_current_status(self):
|
||||
"""获取当前电机状态（脉冲数、圈数）"""
|
||||
return {
|
||||
"total_pulses": self.total_pulse_history,
|
||||
"total_rounds": self.total_pulse_history / self.pulses_per_round,
|
||||
"last_rotate_completed_pulses": self.current_pulse_count,
|
||||
"last_rotate_completed_rounds": self.current_pulse_count / self.pulses_per_round,
|
||||
"last_rotate_target_pulses": self.current_rotate_target,
|
||||
"last_rotate_target_rounds": self.current_rotate_target / self.pulses_per_round
|
||||
}
|
||||
|
||||
def reset_count(self):
|
||||
"""重置累计计数（按需使用，如电机归位后）"""
|
||||
self.total_pulse_history = 0
|
||||
self._save_pulse_count()
|
||||
print("[INFO] 累计脉冲计数已重置为0")
|
||||
|
||||
def stop(self):
|
||||
"""紧急停止（置低脉冲引脚）"""
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False)
|
||||
# 停止时保存当前计数
|
||||
self._save_pulse_count()
|
||||
print("[STOP] 电机已停止，当前计数已保存")
|
||||
|
||||
def close(self):
|
||||
"""释放GPIO资源"""
|
||||
# 安全释放GPIO资源（关键：避免引脚电平残留）
|
||||
if self.pul_gpio:
|
||||
self.pul_gpio.write(False) # 脉冲引脚置低
|
||||
self.pul_gpio.close()
|
||||
print("\n[OK] PUL引脚已关闭（电平置低）")
|
||||
|
||||
if self.dir_gpio:
|
||||
self.dir_gpio.write(False) # 方向引脚置低
|
||||
self.dir_gpio.close()
|
||||
print("[OK] DIR引脚已关闭（电平置低）")
|
||||
|
||||
# 关闭时保存最终计数
|
||||
self._save_pulse_count()
|
||||
print(
|
||||
f"[INFO] 最终累计脉冲：{self.total_pulse_history} → 累计圈数：{self.total_pulse_history / self.pulses_per_round:.2f}")
|
||||
|
||||
# 重置GPIO对象
|
||||
self.pul_gpio = None
|
||||
self.dir_gpio = None
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：确保资源释放"""
|
||||
self.close()
|
||||
|
||||
# ----------对外接口-----------
|
||||
def motor_demo():
|
||||
"""电机控制示例"""
|
||||
motor = None
|
||||
try:
|
||||
# 创建电机实例（使用默认配置）
|
||||
motor = StepperMotor()
|
||||
print("\n=== 步进电机控制程序启动 ===")
|
||||
# 打印初始状态
|
||||
init_status = motor.get_current_status()
|
||||
print(f"[INIT] 初始状态 → 累计圈数：{init_status['total_rounds']:.2f} 圈")
|
||||
|
||||
while True:
|
||||
# 靠近电机方向 逆时针
|
||||
motor.rotate(rounds=10.0, direction=motor.COUNTER_CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
# 远离电机方向 顺时针
|
||||
motor.rotate(rounds=10.0, direction=motor.CLOCKWISE)
|
||||
time.sleep(5) # 暂停5秒
|
||||
|
||||
except PermissionError:
|
||||
print("\n[ERROR] 权限不足：请用 sudo 运行！")
|
||||
print("命令：sudo python3 double_direction_motor.py")
|
||||
except ImportError:
|
||||
print("\n[ERROR] 缺少依赖：请安装python-periphery")
|
||||
print("命令：pip install python-periphery")
|
||||
except KeyboardInterrupt:
|
||||
print("\n[INFO] 用户手动停止程序")
|
||||
except Exception as e:
|
||||
print(f"\n[ERROR] 程序异常：{str(e)}")
|
||||
finally:
|
||||
if motor:
|
||||
# 打印最终状态
|
||||
final_status = motor.get_current_status()
|
||||
print(f"\n[FINAL] 程序退出状态 → 累计脉冲：{final_status['total_pulses']} | 累计圈数：{final_status['total_rounds']:.2f} 圈")
|
||||
motor.close()
|
||||
print("[OK] 程序退出完成")
|
||||
|
||||
if __name__ == '__main__':
|
||||
motor_demo()
|
||||
Reference in New Issue
Block a user