写NG流程：添加光纤传感器线程和双压传感器线程

EMV/EMV.py

@@ -14,7 +14,7 @@ import threading
 import logging
 
 # 网络继电器的 IP 和端口
-HOST = '192.168.1.18'
+HOST = '192.168.5.18'
 PORT = 50000
 
 # 控件命名映射
@@ -312,12 +312,12 @@ def init_sensor_monitor():
     )
     # press_sensor_thread.start()
 
-    # 启动红外传感器监听线程
+    # 启动光纤传感器监听线程
-    infrared_sensor_thread = threading.Thread(
+    fiber_sensor_thread = threading.Thread(
         target=relay.fiber_sensor_monitor,
         daemon=True
     )
-    # infrared_sensor_thread.start()
+    fiber_sensor_thread.start()
 
     return relay
 
@@ -329,17 +329,14 @@ def control_solenoid():
     """
     控制电磁阀，并检测光纤传感器触发状态
     """
-    # 创建控制器实例
+    global fiber_triggered, global_relay
-    controller = RelayController()
-
-    global fiber_triggered
 
     try:
         # 重置光纤传感器触发事件
         fiber_triggered.clear()
 
         # 同时打开
-        controller.open(solenoid_valve1=True, solenoid_valve2=True)
+        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1秒）
         timeout = 2.0
@@ -355,7 +352,7 @@ def control_solenoid():
             logging.info("出问题！！！，红外传感器未检测到线条")
 
         time.sleep(0.2)   # 等待线条掉落
-        controller.close(solenoid_valve1=True, solenoid_valve2=True)
+        global_relay.close(solenoid_valve1=True, solenoid_valve2=True)
         logging.info("电磁阀1、2已关闭")
     except Exception as e:
         logging.info(f"操作电磁阀失败：{str(e)}")

EMV/EMV_test.py

@@ -0,0 +1,382 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2026/1/8 16:52
+# @Author  : reenrr
+# @File    : test.py
+# @Desc    : 网络继电器控制输入、输出设备测试程序
+'''
+import socket
+import binascii
+import time
+from threading import Event, Lock
+import threading
+import logging
+
+# 网络继电器的 IP 和端口
+HOST = '192.168.5.18'
+PORT = 50000
+
+# 控件命名映射
+SOLENOID_VALVE1 = 'solenoid_valve1'     # 控制排料机构NG时的电磁阀1
+SOLENOID_VALVE2 = 'solenoid_valve2'     # 控制排料机构NG时的电磁阀2
+SOLENOID_VALVE3 = 'solenoid_valve3'     # 控制吸取设备的电磁阀3
+
+# 传感器命名映射
+CONVEYOR1_SENSOR = 'conveyor1_sensor'   # 传送带1的行程开关
+CONVEYOR2_SENSOR = 'conveyor2_sensor'   # 传送带2的行程开关
+PRESS_SENSOR1 = 'press_sensor1'         # 传送带1旁边的按压开关1
+PRESS_SENSOR2 = 'press_sensor2'         # 传送带1旁边的按压开关2
+FIBER_SENSOR = 'fiber_sensor'           # 传送带1旁边的光纤传感器
+
+# 控件控制报文
+valve_commands = {
+    SOLENOID_VALVE1: {
+        'open': '00000000000601050000FF00',
+        'close': '000000000006010500000000',
+    },
+    SOLENOID_VALVE2: {
+        'open': '00000000000601050001FF00',
+        'close': '000000000006010500010000',
+    },
+    SOLENOID_VALVE3: {
+        'open': '00000000000601050002FF00',
+        'close': '000000000006010500020000',
+    }
+}
+
+# 读取状态命令
+read_status_command = {
+    'devices': '000000000006010100000008',
+    'sensors': '000000000006010200000008'
+}
+
+# 控件对应 DO 位（从低到高）
+device_bit_map = {
+    SOLENOID_VALVE1: 0,
+    SOLENOID_VALVE2: 1,
+    SOLENOID_VALVE3: 2,
+}
+
+device_name_map = {
+    SOLENOID_VALVE1: "电磁阀1",
+    SOLENOID_VALVE2: "电磁阀2",
+    SOLENOID_VALVE3: "电磁阀3",
+}
+
+# 传感器对应位（从低到高）
+sensor_bit_map = {
+    CONVEYOR1_SENSOR: 0,
+    CONVEYOR2_SENSOR: 1,
+    PRESS_SENSOR1: 2,
+    PRESS_SENSOR2: 3,
+    FIBER_SENSOR: 6
+    # 根据你继电器的配置，继续添加更多传感器
+}
+
+sensor_name_map = {
+    CONVEYOR1_SENSOR: '传送带1开关',
+    CONVEYOR2_SENSOR: '传送带2开关',
+    PRESS_SENSOR1: '按压开关1',
+    PRESS_SENSOR2: '按压开关2',
+    FIBER_SENSOR: '光纤传感器'
+}
+
+# -------------全局事件-------------
+press_sensors_triggered = Event()
+fiber_triggered = Event()       # 光纤传感器触发事件
+fiber_lock = Lock()             # 线程锁，保护共享变量
+valve1_open_flag = False        # 电磁阀1打开标志
+
+
+class RelayController:
+    def __init__(self):
+        """初始化继电器控制器"""
+        self.socket = None
+
+        # 线程相关状态
+        self.fiber_thread = None                      # 保存光纤传感器线程对象
+        self.fiber_monitor_running = False            # 光纤传感器监听线程运行标志
+
+        self.press_sensors_thread = None              # 保存按压开关线程对象
+        self.press_sensors_monitor_running = False    # 按压传感器监听线程运行标志
+
+    def send_command(self, command):
+        """
+        将十六进制字符串转换为字节数据并发送
+        :param command: 十六进制字符串
+        :return: 响应字节数据 / False
+        """
+        try:
+            byte_data = binascii.unhexlify(command)
+
+            # 创建套接字并连接到继电器
+            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+                    sock.connect((HOST, PORT))
+                    sock.send(byte_data)
+                    # 接收响应
+                    response = sock.recv(1024)
+                    # logging.info(f"收到响应: {binascii.hexlify(response)}")
+                    # 校验响应
+                    return response
+        except Exception as e:
+            logging.info(f"通信错误: {e}")
+            return False
+
+    def get_all_device_status(self, command_type='devices'):
+        """
+        获取所有设备/传感器状态
+        :param command_type: 'devices'（控件） / 'sensors'（传感器）
+        :return: 状态字典 {设备名: 状态(bool)}
+        """
+        command = read_status_command.get(command_type)
+        if not command:
+            logging.info(f"未知的读取类型: {command_type}")
+            return {}
+
+        response = self.send_command(command)
+        status_dict = {}
+
+        if response and len(response) >= 10:
+            status_byte = response[9]  # 状态在第10字节
+            status_bin = f"{status_byte:08b}"[::-1]
+
+            if command_type == 'devices':
+                bit_map = device_bit_map
+                name_map = device_name_map
+            elif command_type == 'sensors':
+                bit_map = sensor_bit_map
+                name_map = sensor_name_map
+            else:
+                logging.info("不支持的映射类型")
+                return{}
+
+            for key, bit_index in bit_map.items():
+                state = status_bin[bit_index] == '1'
+                status_dict[key] = state
+                # readable = "开启" if state else "关闭"
+                # logging.info(f"{device.capitalize()} 状态: {readable}")
+        else:
+            logging.info("读取状态失败或响应无效")
+
+        return status_dict
+
+    def get_device_status(self, device_name, command_type='devices'):
+        """
+        获取单个控件/传感器状态
+        :param device_name:设备名称
+        :param command_type: 'devices'/'sensors'
+        :return:True(开启) / False(关闭) / None(无法读取)
+        """
+        status = self.get_all_device_status(command_type)
+        return status.get(device_name, None)
+
+    def open(self, solenoid_valve1=False, solenoid_valve2=False, solenoid_valve3=False):
+        """
+        根据状态决定是否执行开操作
+        :param solenoid_valve1:是否打开电磁阀1
+        :param solenoid_valve2:是否打开电磁阀2
+        :param solenoid_valve3:是否打开电磁阀3
+        :return:
+        """
+        global valve1_open_flag
+        status = self.get_all_device_status()
+
+        if solenoid_valve1 and not status.get(SOLENOID_VALVE1, False):
+            logging.info("打开电磁阀1")
+            self.send_command(valve_commands[SOLENOID_VALVE1]['open'])
+            # 记录电磁阀1打开时的时间戳和标志
+            with fiber_lock:
+                valve1_open_flag = True
+
+        if solenoid_valve2 and not status.get(SOLENOID_VALVE2, False):
+            logging.info("打开电磁阀2")
+            self.send_command(valve_commands[SOLENOID_VALVE2]['open'])
+
+        if solenoid_valve3 and not status.get(SOLENOID_VALVE3, False):
+            logging.info("打开电磁阀3")
+            self.send_command(valve_commands[SOLENOID_VALVE3]['open'])
+            time.sleep(1)     # 实际测试需要考虑这个延时是否合适
+
+    def close(self, solenoid_valve1=False, solenoid_valve2=False, solenoid_valve3=False):
+        """
+        根据状态决定是否执行关操作
+        :param solenoid_valve1:是否关闭电磁阀1
+        :param solenoid_valve2:是否关闭电磁阀2
+        :param solenoid_valve3:是否关闭电磁阀3
+        :return:
+        """
+        global valve1_open_flag
+
+        status = self.get_all_device_status()
+
+        if solenoid_valve1 and status.get(SOLENOID_VALVE1, True):
+            logging.info("关闭电磁阀1")
+            self.send_command(valve_commands[SOLENOID_VALVE1]['close'])
+            # 重置电磁阀1打开标志
+            with fiber_lock:
+                valve1_open_flag = False
+
+        if solenoid_valve2 and status.get(SOLENOID_VALVE2, True):
+            logging.info("关闭电磁阀2")
+            self.send_command(valve_commands[SOLENOID_VALVE2]['close'])
+
+        if solenoid_valve2 and status.get(SOLENOID_VALVE3, True):
+            logging.info("关闭电磁阀3")
+            self.send_command(valve_commands[SOLENOID_VALVE3]['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')
+                if press_sensor1_status or press_sensor2_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")
+                    # 重置事件（等待下一次触发）
+                    time.sleep(0.1)   # 防重复触发
+                    press_sensors_triggered.clear()
+                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")
+
+
+# 全局继电器实例
+global_relay = RelayController()
+
+# ------------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
+
+    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 = 2.0
+        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()
+
+    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()
+
+# ------------测试接口-------------
+if __name__ == '__main__':
+    control_solenoid()

RK1106/stepper_motor.py

@@ -9,6 +9,7 @@
 import time
 from periphery import GPIO
 import logging
+import os
 
 # ------------参数配置-------------
 # 1. 脉冲（PUL）引脚配置 → GPIO32

main_control.py

@@ -10,41 +10,72 @@ import multiprocessing       # 多进程模块
 import threading
 from threading import Event
 import time
-from EMV import  sensor_triggered, global_relay, control_solenoid
+from EMV.EMV_test import  press_sensors_triggered, control_solenoid, global_relay
-from visual_algorithm import flaw_detection
+from visual_algorithm.visual_algorithm import flaw_detection
+import logging
+import os
+
+# ------------ 日志+参数配置 ------------
+script_dir = os.path.dirname(os.path.abspath(__file__))
+log_file_path = os.path.join(script_dir, "main_control.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')
+    ]
+)
 
 # ------------全局事件-------------
 manger = multiprocessing.Manager()
 conveyor_start_event = manger.Event()
 
+def start_thread():
+    """开启各种线程"""
+    global_relay.start_press_sensors_monitor()       # 双压传感器监听线程
+
+def stop_thread():
+    """关闭各种线程"""
+    global_relay.stop_press_sensors_monitor()        # 双压传感器监听线程
+
 
 def quality_testing():
-    print("线条开始质量检测：")
+    logging.info("线条开始质量检测：")
 
     # 执行质量检测
     result = flaw_detection({"line_id": "L001", "straightness": 0.95, "noise_ratio": 0.08})
     if result == "qualified":
         result = "合格"
-        print("该线条是否合格：", result)
+        logging.info("该线条是否合格：", result)
-        print("等待线条落到传送带（双压传感器触发）...")
+        logging.info("等待线条落到传送带（双压传感器触发）...")
         # 等待时间触发，超时时间设为10秒（避免无限等待）
-        if sensor_triggered.wait(timeout=10):
+        if press_sensors_triggered.wait(timeout=10):
-            print("线条已落到传送带，控制两个传送带向前移动")
+            logging.info("线条已落到传送带，控制两个传送带向前移动")
             # 触发传送带启动事件
             conveyor_start_event.set()
         else:
-            print("超时警告：线条未落到传送带，请检查")
+            logging.info("超时警告：线条未落到传送带，请检查")
     elif result == "unqualified":
         result = "不合格"
-        print("该线条是否合格：", result)
+        logging.info("该线条是否合格：", result)
-        print("进入NG动作")
+        logging.info("等待线条落到传送带上")
+        # 等待时间触发，超时时间设为10秒（避免无限等待）
+        if press_sensors_triggered.wait(timeout=10):
+            logging.info("线条已落到传送带")
+        logging.info("进入NG动作")
         control_solenoid()   # 执行NG动作,控制电磁阀
-        print("NG动作结束")
+        logging.info("NG动作结束")
-        # print("判断NG线条是否落入肥料区：")
+        # logging.info("判断NG线条是否落入肥料区：")
 
 # -----------对外接口-------------
 def main_control():
-    print("开始摆放线条")
+    logging.info("开启各种线程")
+    start_thread()
+
+    logging.info("开始摆放线条")
 
     # 质量检测
     quality_testing()

readme.md

@@ -13,4 +13,7 @@ sudo chmod 666 /dev/ttyACM0
 # python版本
 3.9
 
+# 过年之后调试，需要注意
+## 1.修改网络继电器的IP，将1网段改成5网段
+