176 lines
8.0 KiB
Python
176 lines
8.0 KiB
Python
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# feeding/controller.py
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import time
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from feeding.process import FeedingProcess
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class FeedingController:
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def __init__(self, relay_controller, inverter_controller,
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transmitter_controller, vision_detector,
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camera_controller, state, settings):
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self.relay_controller = relay_controller
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self.inverter_controller = inverter_controller
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self.transmitter_controller = transmitter_controller
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self.vision_detector = vision_detector
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self.camera_controller = camera_controller
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self.state = state
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self.settings = settings
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# 初始化下料流程
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self.process = FeedingProcess(
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relay_controller, inverter_controller,
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transmitter_controller, vision_detector,
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camera_controller, state, settings
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)
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def start_feeding(self):
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"""启动下料流程"""
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self.process.start_feeding()
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def check_upper_material_request(self):
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"""检查是否需要要料"""
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current_weight = self.transmitter_controller.read_data(1)
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if current_weight is None:
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self.state.upper_weight_error_count += 1
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print(f"上料斗重量读取失败，错误计数: {self.state.upper_weight_error_count}")
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if self.state.upper_weight_error_count >= self.settings.max_error_count:
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print("警告：上料斗传感器连续读取失败，请检查连接")
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return False
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self.state.upper_weight_error_count = 0
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# 判断是否需要要料：当前重量 < 目标重量 + 缓冲重量
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if current_weight < (self.settings.single_batch_weight + self.settings.min_required_weight):
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print("上料斗重量不足，通知搅拌楼要料")
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self.request_material_from_mixing_building() # 请求搅拌楼下料
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return True
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return False
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def request_material_from_mixing_building(self):
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"""
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请求搅拌楼下料
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"""
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print("发送要料请求至搅拌楼...")
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self.process.return_upper_door_to_default()
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# 这里需要与同事对接具体的通信方式
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# 可能是Modbus写寄存器、TCP通信、HTTP请求等
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pass
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def check_arch_blocking(self):
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"""检查是否需要破拱"""
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current_time = time.time()
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# 检查下料斗破拱（只有在下料过程中才检查）
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if self.state.lower_feeding_stage in [1, 2, 3]: # 在所有下料阶段检查
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lower_weight = self.transmitter_controller.read_data(2)
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if lower_weight is not None:
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# 检查重量变化是否过慢（小于0.1kg变化且时间超过10秒）
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if (abs(lower_weight - self.state.last_lower_weight) < 0.1) and \
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(current_time - self.state.last_weight_time) > 10:
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print("下料斗可能堵塞，启动破拱")
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'open')
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time.sleep(2)
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'close')
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self.state.last_lower_weight = lower_weight
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# 检查上料斗破拱（在上料斗向下料斗下料时检查）
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if (self.state.upper_door_position == 'over_lower' and
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self.state.lower_feeding_stage in [0, 1, 2, 3, 4]): # 在任何阶段都可能需要上料斗破拱
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upper_weight = self.transmitter_controller.read_data(1)
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if upper_weight is not None:
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# 检查重量变化是否过慢（小于0.1kg变化且时间超过10秒）
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if (abs(upper_weight - self.state.last_upper_weight) < 0.1) and \
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(current_time - self.state.last_weight_time) > 10:
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print("上料斗可能堵塞，启动破拱")
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_UPPER, 'open')
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time.sleep(2)
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_UPPER, 'close')
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self.state.last_upper_weight = upper_weight
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# 更新最后读取时间
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if (self.transmitter_controller.read_data(1) is not None or
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self.transmitter_controller.read_data(2) is not None):
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self.state.last_weight_time = current_time
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def visual_control(self, current_frame):
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"""
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视觉控制主逻辑
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"""
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# 检测是否溢料
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overflow = self.vision_detector.detect_overflow(current_frame)
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# 获取当前角度
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current_angle = self.vision_detector.detect_angle(image=current_frame)
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if current_angle is None:
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print("无法获取当前角度，跳过本次调整")
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return
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print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 控制模式: {self.state.angle_control_mode}")
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# 状态机控制逻辑
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if self.state.angle_control_mode == "normal":
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# 正常模式
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if overflow and current_angle > self.settings.angle_threshold:
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# 检测到堆料且角度过大，进入角度减小模式
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print("检测到堆料且角度过大，关闭出砼门开始减小角度")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
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self.state.angle_control_mode = "reducing"
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else:
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# 保持正常开门
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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elif self.state.angle_control_mode == "reducing":
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# 角度减小模式
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if current_angle <= self.settings.target_angle + self.settings.angle_tolerance:
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# 角度已达到目标范围
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if overflow:
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# 仍有堆料，进入维持模式
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print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
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self.state.angle_control_mode = "maintaining"
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open') # 先打开门
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else:
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# 无堆料，恢复正常模式
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print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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self.state.angle_control_mode = "normal"
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elif self.state.angle_control_mode == "maintaining":
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# 维持模式 - 使用脉冲控制
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if not overflow:
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# 堆料已消除，恢复正常模式
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print("堆料已消除，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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self.state.angle_control_mode = "normal"
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else:
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# 继续维持角度控制
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self.pulse_control_door_for_maintaining()
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elif self.state.angle_control_mode == "recovery":
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# 恢复模式 - 逐步打开门
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if overflow:
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# 又出现堆料，回到角度减小模式
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print("恢复过程中又检测到堆料，回到角度减小模式")
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self.state.angle_control_mode = "maintaining"
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else:
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# 堆料已消除，恢复正常模式
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print("堆料已消除，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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self.state.angle_control_mode = "normal"
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self.state.last_angle = current_angle
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def pulse_control_door_for_maintaining(self):
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"""
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用于维持模式的脉冲控制
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保持角度在目标范围内
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"""
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print("执行维持脉冲控制")
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# 关门1秒
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
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time.sleep(1.0)
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# 开门1秒
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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time.sleep(1.0)
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