#!/usr/bin/env python # -*- coding: utf-8 -*- ''' # @Time : 2025/12/12 14:39 # @Author : reenrr # @File : EMV.py # @Desc : 网络继电器控制输入、输出设备 修改了接口，需测试 ''' import socket import binascii import time import logging from typing import Union # 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': '00000000000601050003FF00', 'close': '000000000006010500030000', }, ABSORB_SOLENOID_VALVE3: { 'open': '00000000000601050004FF00', 'close': '000000000006010500040000', }, ABSORB_SOLENOID_VALVE4: { 'open': '00000000000601050005FF00', 'close': '000000000006010500050000', }, ABSORB_SOLENOID_VALVE5: { 'open': '00000000000601050006FF00', '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' } class RelayController: def __init__(self): """初始化继电器控制器""" self.sock = None self.is_connected = False # 长连接状态标记 # 初始化时自动尝试建立长连接 print(f"正在初始化网络继电器并建立长连接") connect_success = self.connect() if connect_success: print(f"网络继电器长连接建立成功:{HOST}:{PORT}") else: print(f"网络继电器长连接建立失败") def connect(self) -> bool: """ 建立长连接 :return: True-连接成功，False-连接失败 """ if not self.is_connected: try: self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.sock.settimeout(3) self.sock.connect((HOST, PORT)) self.is_connected = True print(f"长连接建立成功：{HOST}:{PORT}") return True except Exception as e: print(f"长连接建立失败：{e}") self.sock = None self.is_connected = False return False return True def disconnect(self): """断开长连接""" if self.sock and self.is_connected: try: self.sock.shutdown(socket.SHUT_RDWR) self.sock.close() print("长连接已正常断开") except Exception as e: print(f"断开长连接时出现异常:{e}") finally: self.sock = None self.is_connected = False def send_command(self, command: str) -> Union[bytes, bool]: """ 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 """ if not self.is_connected or not self.sock: print("长连接未建立，无法发送指令") return False try: byte_data = binascii.unhexlify(command) self.sock.sendall(byte_data) # sendall确保数据全部发送 # 接收响应 response = self.sock.recv(1024) if not response: logging.warning("长连接接收空响应，可能连接已断开") self.is_connected = False return False # print(f"收到响应: {binascii.hexlify(response)}") # 校验响应 return response except socket.timeout: print("长连接发送/接收超时") self.is_connected = False return False except Exception as e: print(f"通信错误: {e}") self.is_connected = False return False def get_all_device_status(self, command_type: str='devices') -> dict[str, bool]: """ 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: print(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: print("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" # print(f"{device.capitalize()} 状态: {readable}") else: print("读取状态失败或响应无效") return status_dict def set_device(self, device_name: str, state: bool): """ 设置指定输出设备（DO）的开关状态 :param device_name: 设备名称 :param state: 目标状态 True--打开 FALSE--关闭 """ if device_name not in valve_commands: raise ValueError(f"未知设备：{device_name}") try: current = self.get_all_device_status() is_on = current.get(device_name, False) if state and not is_on: self.send_command(valve_commands[device_name]['open']) elif not state and is_on: self.send_command(valve_commands[device_name]['close']) except Exception as e: raise RuntimeError(f"设置设备 '{device_name}' 状态失败: {e}") from e # 全局变量 # private _GLOBAL_RELAY = RelayController() 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 """ 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': {...}} """ 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__': 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}")