写不NG流程：添加传送带运行、步进电机移动、线条个数方便后续夹爪的抓取、气动夹爪控制流程

DM/DM_Motor_test.py

@@ -112,8 +112,8 @@ class DMMotorController:
         :param v_desired: 目标速度（rad/s, 范围[-30, 30]）
         """
         try:
-            # 归零 + 发送运动指令
+            # 发送运动指令
-            self.motor_control.set_zero_position(self.motor)
+            # self.motor_control.set_zero_position(self.motor)
             self.motor_control.control_Pos_Vel(self.motor, p_desired, v_desired)
             time.sleep(0.1)
             print(f"✅ 位置-速度控制：位置={p_desired}rad | 速度={v_desired}rad/s")
@@ -198,6 +198,7 @@ class DMMotorController:
         except Exception as e:
             print(f"修改电机限位参数失败: {str(e)}")
 
+
     def __del__(self):
         """析构函数：确保程序退出时失能电机、关闭串口"""
         try:
@@ -211,7 +212,6 @@ class DMMotorController:
         except Exception as e:
             print(f"ℹ️ 析构函数执行警告：{str(e)}")
 
-
 def dm_motor_control():
     # 1.创建电机控制器实例
     motor_controller = DMMotorController(

EMV/EMV_test.py

@@ -100,6 +100,7 @@ class RelayController:
 
         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
+        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）
 
     def send_command(self, command):
         """
@@ -291,12 +292,16 @@ class RelayController:
                 # 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:
+                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")
-                    # 重置事件（等待下一次触发）
+
-                    time.sleep(0.1)   # 防重复触发
+                # 更新上一次传感器状态，为下一次上升沿检测做准备
-                    press_sensors_triggered.clear()
+                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}")

RK1106/RK1106_server.py

@@ -0,0 +1,119 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+'''
+# @Time    : 2026/1/9 10:45
+# @Author  : reenrr
+# @File    : RK1106_server.py
+# @Desc    : RK1106服务端，等待工控机调用
+'''
+import socket
+import logging
+import sys
+from test import motor_demo
+
+
+# --------日志配置（终端+文件双输出）--------------
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(levelname)s - %(message)s',
+    # 核心新增：日志文件配置
+    handlers=[
+        # 1. 文件处理器：保存到.log文件
+        logging.FileHandler(
+            "RK1106_server.log",   # Buildroot推荐路径，临时测试可改/tmp/1106_server.log
+            mode='a',                    # 追加模式（不会覆盖历史日志）
+            encoding='utf-8'             # 防止中文乱码（必加）
+        ),
+        # 2. 终端处理器：输出到控制台
+        logging.StreamHandler(sys.stdout)
+    ]
+)
+
+# --------配置TCP服务端----------
+HOST = "127.0.0.1"
+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
+}
+
+def parse_command(cmd_str: str) ->tuple[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
+    """
+    # 空指令处理
+    if not cmd_str or cmd_str.strip() == "":
+        return "", {}
+
+    # 分割指令标识和参数
+    cmd_parts = cmd_str.strip().split("|", 1)
+    prog_id = cmd_parts[0].strip()
+    params = {}
+
+    # 解析参数（格式：param1=val1&param2=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()
+
+    return prog_id, params
+
+# ----------对外接口----------
+def server():
+    # 创建TCP socket
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
+        # 允许端口复用
+        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}")
+
+                # 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}")
+
+                # 发送响应给工控机
+                conn.sendall(response.encode("utf-8"))
+                logging.info(f"[1106] 已发送响应：{response}")
+
+# ----------测试接口----------
+if __name__ == "__main__":
+    server()
+

RK1106/test.py

@@ -249,7 +249,7 @@ class StepperMotor:
         """析构函数：确保资源释放"""
         self.close()
 
-# 使用示例
+# ----------对外接口-----------
 def motor_demo():
     """电机控制示例"""
     motor = None
@@ -287,6 +287,5 @@ def motor_demo():
             motor.close()
             print("[OK] 程序退出完成")
 
-
 if __name__ == '__main__':
     motor_demo()

client.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+# @Time    : 2026/1/9 10:49
+# @Author  : reenrr
+# @File    : client.py
+# @Desc    : 工具工控机客户端
+"""
+import socket
+import logging
+import time
+
+# -------- RK1106配置 ----------
+_1106_IP = "127.0.0.1"  # 替换为3506的真实IP（本地测试用127.0.0.1）
+_1106_PORT = 8888  # 和3506服务端一致的端口
+TIMEOUT = 10  # 通讯超时时间（秒）
+
+
+class IndustrialPCClient:
+    """工控机客户端类，封装与1106的通讯逻辑"""
+
+    def __init__(self, ip: str, port: int, timeout: int = 10):
+        self.ip = ip
+        self.port = port
+        self.timeout = timeout
+        self.socket = None  # 通讯socket
+
+    def connect(self) -> bool:
+        """连接1106服务端"""
+        try:
+            # 创建TCP socket
+            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.socket.settimeout(self.timeout)  # 设置超时
+            # 连接3506
+            self.socket.connect((self.ip, self.port))
+            logging.info(f"[工控机] 成功连接1106：{self.ip}:{self.port}")
+            return True
+        except socket.timeout:
+            logging.error(f"[工控机] 连接1106超时（{self.timeout}s）")
+            self.close()
+            return False
+        except ConnectionRefusedError:
+            logging.error(f"[工控机] 1106拒绝连接（请检查1106服务是否启动）")
+            self.close()
+            return False
+        except Exception as e:
+            logging.error(f"[工控机] 连接1106失败：{str(e)}", exc_info=True)
+            self.close()
+            return False
+
+    def send_command(self, prog_id: str, **params) -> tuple[bool, str]:
+        """
+        向1106发送指令
+        :param prog_id: 指令标识（如STEPPER_TEST）
+        :param params: 指令参数（如speed=50, steps=200）
+        :return: (是否成功, 响应信息)
+        """
+        if not self.socket:
+            return False, "未连接1106，请先调用connect()"
+
+        # 构造指令字符串（符合1106解析格式）
+        param_str = "&".join([f"{k}={v}" for k, v in params.items()])
+        cmd = f"{prog_id}|{param_str}" if param_str else prog_id
+
+        try:
+            # 发送指令（UTF-8编码）
+            self.socket.sendall(cmd.encode("utf-8"))
+            logging.info(f"[工控机] 发送指令：{cmd}")
+
+            # 接收3506响应（最大1024字节）
+            resp = self.socket.recv(1024).decode("utf-8", errors="ignore").strip()
+            if not resp:
+                return False, "未收到1106响应"
+
+            # 解析响应（SUCCESS/FAIL|描述）
+            if "|" in resp:
+                status, msg = resp.split("|", 1)
+                success = status == "SUCCESS"
+                logging.info(f"[工控机] 1106响应：{'成功' if success else '失败'} - {msg}")
+                return success, msg
+            else:
+                # 响应格式异常
+                logging.warning(f"[工控机] 1106响应格式异常：{resp}")
+                return False, f"响应格式错误：{resp}"
+
+        except socket.timeout:
+            logging.error(f"[工控机] 发送指令后超时（{self.timeout}s）未收到响应")
+            return False, "通讯超时"
+        except Exception as e:
+            logging.error(f"[工控机] 发送指令失败：{str(e)}", exc_info=True)
+            return False, str(e)
+
+    def close(self):
+        """关闭连接"""
+        if self.socket:
+            self.socket.close()
+            self.socket = None
+            logging.info("[工控机] 已断开与1106的连接")
+
+# ---------对外接口----------
+def control_stepper_motor():
+    """示例：工控机调用1106的步进电机控制程序"""
+    # 初始化客户端
+    client = IndustrialPCClient(_1106_IP, _1106_PORT, TIMEOUT)
+
+    # 连接1106
+    if not client.connect():
+        return
+
+    try:
+        # ========== 示例1：无参数调用步进电机测试 ==========
+        logging.info("\n===== 无参数调用步进电机测试 =====")
+        success, msg = client.send_command("test")
+        if not success:
+            logging.error(f"调用失败：{msg}")
+
+        time.sleep(2)  # 间隔2秒  可能根据实际效果进行延时调整
+
+    finally:
+        # 确保关闭连接
+        client.close()
+
+# ---------测试接口----------
+if __name__ == "__main__":
+    control_stepper_motor()

conveyor_controller/conveyor_master_controller2_test.py

@@ -11,7 +11,7 @@ import threading
 import time
 from datetime import datetime
 import serial
-from EMV import RelayController
+from EMV.EMV_test import RelayController
 
 logging.getLogger("pymodbus").setLevel(logging.CRITICAL)
 

main_control.py

@@ -1,19 +1,19 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
-'''
+"""
 # @Time    : 2025/12/12 11:05
 # @Author  : reenrr
 # @File    : main_control.py
 # @Desc    : 主控程序
-'''
+"""
-import multiprocessing       # 多进程模块
-import threading
-from threading import Event
 import time
 from EMV.EMV_test import  press_sensors_triggered, control_solenoid, global_relay
 from visual_algorithm.visual_algorithm import flaw_detection
 import logging
 import os
+from conveyor_controller.conveyor_master_controller2_test  import conveyor_control
+from client import IndustrialPCClient
+from DM.DM_Motor_test import DMMotorController, Control_Type, dm_motor_control
 
 # ------------ 日志+参数配置 ------------
 script_dir = os.path.dirname(os.path.abspath(__file__))
@@ -29,59 +29,178 @@ logging.basicConfig(
     ]
 )
 
-# ------------全局事件-------------
+# -------------------------- 电机参数配置 --------------------------
-manger = multiprocessing.Manager()
+SLAVE_ID = 0x01
-conveyor_start_event = manger.Event()
+MASTER_ID = 0x11
+PORT = 'COM10'
+BAUDRATE = 921600
 
-def start_thread():
+class LineMainControlSystem:
-    """开启各种线程"""
+    """
-    global_relay.start_press_sensors_monitor()       # 双压传感器监听线程
+    线条主控系统类
+    """
+    def __init__(self):
+        """
+        构造方法：初始化类属性
+        """
+        # 客户端
+        self.client = IndustrialPCClient(ip='127.0.0.1', port=8888, timeout=10)
+        # 连接服务端
+        if not self.client.connect():
+            return
 
-def stop_thread():
+        # 合格线条处理记数
-    """关闭各种线程"""
+        self.qualified_line_count = 0
-    global_relay.stop_press_sensors_monitor()        # 双压传感器监听线程
+        self.qualified_trigger_threshold = 5
+
+        # 创建达妙电机实例、参数
+        self.motor_controller = DMMotorController(
+            slave_id=SLAVE_ID,
+            master_id=MASTER_ID,
+            port=PORT,
+            baudrate=BAUDRATE
+        )
+        self.dm_motor_init()
 
 
-def quality_testing():
+    def dm_motor_init(self):
-    logging.info("线条开始质量检测：")
+        # 切换到位置-速度模式
+        self.motor_controller.switch_control_mode(Control_Type.POS_VEL)
 
-    # 执行质量检测
+        # 使能电机
-    result = flaw_detection({"line_id": "L001", "straightness": 0.95, "noise_ratio": 0.08})
+        self.motor_controller.enable_motor()
-    if result == "qualified":
+
+        # 将电机位置恢复到初始位置(防止断电，电机停在某个位置上）
+        dm_motor_position = self.motor_controller.get_position()
+        logging.info(f"初始位置{dm_motor_position}")
+        # 将位置移动到0位
+        self.motor_controller.control_pos_vel(p_desired=0, v_desired=30)
+        time.sleep(10)
+
+    def start_thread(self):
+        """开启各种线程"""
+        logging.info("开启各类监听线程")
+        global_relay.start_press_sensors_monitor()       # 双压传感器监听线程
+
+    def stop_thread(self):
+        """关闭各种线程"""
+        logging.info("关闭各类监听线程")
+        global_relay.stop_press_sensors_monitor()        # 双压传感器监听线程
+
+    def handle_line(self):
+        try:
+            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":
+                self._handle_qualified_line()
+            elif result == "unqualified":
+                self._handle_unqualified_line()
+
+        except Exception as e:
+            logging.error(f"质量检测失败：{e}", exc_info=True)
+
+        finally:
+            # 关闭连接服务端
+            if self.client:
+                self.client.close()
+                logging.info("关闭连接服务端")
+
+    def _handle_qualified_line(self):
+        """
+        处理合格线条的流程
+        """
         result = "合格"
-        logging.info("该线条是否合格：", result)
+        logging.info(f"该线条是否合格：{result}")
         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 press_sensors_triggered.wait(timeout=10):
+            press_sensors_triggered.clear()
+
             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
+            # 传送带运行
-            conveyor_start_event.set()
+            conveyor_control()
+
+            # 验证传送带运行结果
+            press_sensor1_status = global_relay.get_device_status('press_sensor1', 'sensors')
+            press_sensor2_status = global_relay.get_device_status('press_sensor2', 'sensors')
+            if not press_sensor1_status and not press_sensor2_status:
+                logging.info("传送带运行正常,线条已移动")
+
+                self.qualified_line_count += 1
+                logging.info(f"已处理合格线条{self.qualified_line_count}/{self.qualified_trigger_threshold}个")
+
+                # 控制步进电机移动
+                logging.info("控制步进电机移动")
+                success, msg = self.client.send_command("test")
+                if not success:
+                    logging.error(f"调用失败：{msg}")
+                else:
+                    logging.info("步进电机移动成功")
+
+                # 判断线条个数
+                if self.qualified_line_count >= self.qualified_trigger_threshold:
+                    # 舵机、电机相关控制
+                    self.qualified_line_count = 0
+            else:
+                logging.warning("传送带运行异常，线条未正常移动，不更新合格计数")
         else:
-            logging.info("超时警告：线条未落到传送带，请检查")
+            logging.info("线条未落到传送带，请检查传感器或设备状态")
-    elif result == "unqualified":
+
+    def _handle_unqualified_line(self):
+        """
+        处理不合格线条的流程
+        """
         result = "不合格"
         logging.info("该线条是否合格：", result)
         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):
+            press_sensors_triggered.clear()
             logging.info("线条已落到传送带")
+
+        # 执行NG动作，控制电磁阀
         logging.info("进入NG动作")
-        control_solenoid()   # 执行NG动作,控制电磁阀
+        control_solenoid()  # 执行NG动作,控制电磁阀
         logging.info("NG动作结束")
-        # logging.info("判断NG线条是否落入肥料区：")
+
+    def gripper_control(self):
+        """
+        气动夹爪相关控制：达妙电机的移动、舵机的翻转
+        """
+        # 打开电磁阀3
+        global_relay.open('solenoid_valve3', "devices")
+
+        # 控制达妙电机收缩
+        self.motor_controller.control_pos_vel(p_desired=282.6, v_desired=30)  # 450mm  665-215
+        time.sleep(10)
+
+
+
 
 # -----------对外接口-------------
 def main_control():
-    logging.info("开启各种线程")
+    main_control_system = LineMainControlSystem()
-    start_thread()
 
-    logging.info("开始摆放线条")
+    try:
+        logging.info("开启各种线程")
+        main_control_system.start_thread()
 
-    # 质量检测
+        while True:   # 防止跳出循环
-    quality_testing()
+            logging.info("开始摆放线条")
+
+            # 质量检测
+            main_control_system.handle_line()
+    except KeyboardInterrupt:
+        logging.info("用户手动退出")
+    finally:
+        # 程序退出时，关闭各类线程
+        main_control_system.stop_thread()
+        logging.info("主控程序已正常退出")
 
-    while True:   # 防止跳出循环
-        time.sleep(1)
 
 # ------------测试接口-------------
 if __name__ == '__main__':