#!/usr/bin/env python # -*- coding: utf-8 -*- ''' # @Time : 2026/1/8 16:52 # @Author : reenrr # @File : EMV_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 ABSORB_SOLENOID_VALVE1 = 'absorb_solenoid_valve1' # 控制吸取设备的电磁阀1 ABSORB_SOLENOID_VALVE2 = 'absorb_solenoid_valve2' # 控制吸取设备的电磁阀2 ABSORB_SOLENOID_VALVE3 = 'absorb_solenoid_valve3' # 控制吸取设备的电磁阀3 ABSORB_SOLENOID_VALVE4 = 'absorb_solenoid_valve4' # 控制吸取设备的电磁阀4 ABSORB_SOLENOID_VALVE5 = 'absorb_solenoid_valve5' # 控制吸取设备的电磁阀5 # 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', }, ABSORB_SOLENOID_VALVE1: { 'open': '00000000000601050002FF00', 'close': '000000000006010500020000', }, ABSORB_SOLENOID_VALVE2: { 'open': '00000000000601050002FF00', 'close': '000000000006010500030000', }, ABSORB_SOLENOID_VALVE3: { 'open': '00000000000601050002FF00', 'close': '000000000006010500040000', }, ABSORB_SOLENOID_VALVE4: { 'open': '00000000000601050002FF00', 'close': '000000000006010500050000', }, ABSORB_SOLENOID_VALVE5: { 'open': '00000000000601050002FF00', 'close': '000000000006010500060000', } } # 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, ABSORB_SOLENOID_VALVE1: 2, ABSORB_SOLENOID_VALVE2: 3, ABSORB_SOLENOID_VALVE3: 4, ABSORB_SOLENOID_VALVE4: 5, ABSORB_SOLENOID_VALVE5: 6 } device_name_map = { SOLENOID_VALVE1: "电磁阀1", SOLENOID_VALVE2: "电磁阀2", ABSORB_SOLENOID_VALVE1: "吸取装置电磁阀1", ABSORB_SOLENOID_VALVE2: "吸取装置电磁阀2", ABSORB_SOLENOID_VALVE3: "吸取装置电磁阀3", ABSORB_SOLENOID_VALVE4: "吸取装置电磁阀4", ABSORB_SOLENOID_VALVE5: "吸取装置电磁阀5", } # 传感器对应位（从低到高） sensor_bit_map = { FIBER_SENSOR: 0, PRESS_SENSOR1: 1, PRESS_SENSOR2: 2, CONVEYOR1_SENSOR: 4, CONVEYOR2_SENSOR: 3, # 根据你继电器的配置，继续添加更多传感器 } sensor_name_map = { FIBER_SENSOR: '光纤传感器', PRESS_SENSOR1: '按压开关1', PRESS_SENSOR2: '按压开关2', CONVEYOR1_SENSOR: '传送带1开关', CONVEYOR2_SENSOR: '传送带2开关' } # -------------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 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): """ 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, absorb_solenoid_valve1=False, absorb_solenoid_valve2=False, absorb_solenoid_valve3=False, absorb_solenoid_valve4=False, absorb_solenoid_valve5=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 absorb_solenoid_valve1:是否打开吸取装置电磁阀1 :param absorb_solenoid_valve2:是否打开吸取装置电磁阀2 :param absorb_solenoid_valve3:是否打开吸取装置电磁阀3 :param absorb_solenoid_valve4:是否打开吸取装置电磁阀4 :param absorb_solenoid_valve5:是否打开吸取装置电磁阀5 :return: """ global valve1_open_time, valve1_open_flag status = self.get_all_device_status() if solenoid_valve1 and not status.get(SOLENOID_VALVE1, False): print("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_time = time.time() valve1_open_flag = True if solenoid_valve2 and not status.get(SOLENOID_VALVE2, False): print("打开电磁阀2") self.send_command(valve_commands[SOLENOID_VALVE2]['open']) if absorb_solenoid_valve1 and not status.get(ABSORB_SOLENOID_VALVE1, False): print("打开吸取装置电磁阀1") self.send_command(valve_commands[ABSORB_SOLENOID_VALVE1]['open']) time.sleep(1) # 实际测试需要考虑这个延时是否合适 if absorb_solenoid_valve2 and not status.get(ABSORB_SOLENOID_VALVE2, False): print("打开吸取装置电磁阀2") self.send_command(valve_commands[ABSORB_SOLENOID_VALVE2]['open']) time.sleep(1) # 实际测试需要考虑这个延时是否合适 if absorb_solenoid_valve3 and not status.get(ABSORB_SOLENOID_VALVE3, False): print("打开吸取装置电磁阀3") self.send_command(valve_commands[ABSORB_SOLENOID_VALVE3]['open']) time.sleep(1) # 实际测试需要考虑这个延时是否合适 if absorb_solenoid_valve4 and not status.get(ABSORB_SOLENOID_VALVE4, False): print("打开吸取装置电磁阀4") self.send_command(valve_commands[ABSORB_SOLENOID_VALVE4]['open']) time.sleep(1) # 实际测试需要考虑这个延时是否合适 if absorb_solenoid_valve5 and not status.get(ABSORB_SOLENOID_VALVE5, False): print("打开吸取装置电磁阀5") self.send_command(valve_commands[ABSORB_SOLENOID_VALVE5]['open']) time.sleep(1) # 实际测试需要考虑这个延时是否合适 # 根据状态决定是否执行关操作 def close(self, solenoid_valve1=False, solenoid_valve2=False, absorb_solenoid_valve1=False, absorb_solenoid_valve2=False, absorb_solenoid_valve3=False, absorb_solenoid_valve4=False, absorb_solenoid_valve5=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 absorb_solenoid_valve1:是否关闭吸取电磁阀1 :param absorb_solenoid_valve2:是否关闭吸取电磁阀2 :param absorb_solenoid_valve3:是否关闭吸取电磁阀3 :param absorb_solenoid_valve4:是否关闭吸取电磁阀4 :param absorb_solenoid_valve5:是否关闭吸取电磁阀5 :return: """ global valve1_open_flag status = self.get_all_device_status() if solenoid_valve1 and status.get(SOLENOID_VALVE1, True): print("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): 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") # 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 = 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() 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()