194 lines
7.4 KiB
Python
194 lines
7.4 KiB
Python
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# main.py
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import time
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from config.settings import app_set_config
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from core.system import FeedingControlSystem
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from hardware import relay
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from hardware.relay import RelayController
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import threading
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import time
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import cv2
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import os
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import sys
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import io
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class OutputRedirector(io.StringIO):
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"""
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自定义输出重定向器，用于处理所有线程的输出
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确保输入提示能在其他线程输出后重新显示，且保留用户当前输入
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"""
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def __init__(self, original_stdout):
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super().__init__()
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self.original_stdout = original_stdout
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self.input_prompt = "请输入新值："
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self.input_thread_active = False
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self.current_input = "" # 跟踪用户当前输入
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self.lock = threading.Lock()
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def write(self, text):
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with self.lock:
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# 写入原始输出
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self.original_stdout.write(text)
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self.original_stdout.flush()
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# 如果输入线程活跃，并且输出是换行符，重新显示输入提示和当前输入
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if self.input_thread_active and '\n' in text:
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# 清除当前行并重新显示输入提示和用户当前输入
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self.original_stdout.write("\r" + " " * 100 + "\r")
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self.original_stdout.write(f"{self.input_prompt}{self.current_input}")
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self.original_stdout.flush()
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def flush(self):
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with self.lock:
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self.original_stdout.flush()
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def main():
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# 加载配置
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# 初始化系统
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
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# time.sleep(1)
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
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# replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
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# replay_controller.control_upper_open()
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
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# time.sleep(5)
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
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# image=cv2.imread(os.path.join(app_set_config.project_root,'test.jpeg'))
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# image=cv2.flip(image, 0)
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# cv2.imshow('test',image)
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# cv2.waitKey(1)
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# replay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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system = FeedingControlSystem()
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# system.vision_detector.detect_angle()
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# while True:
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# system.feeding_controller.pulse_control_door_for_maintaining()
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# time.sleep(5)
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# 初始设置
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system.state.vehicle_aligned=True
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#假设在 fertilize room
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system.state._upper_door_position='over_lower'
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# 创建输出重定向器
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original_stdout = sys.stdout
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output_redirector = OutputRedirector(original_stdout)
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sys.stdout = output_redirector
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# 创建输入线程函数
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def input_thread():
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import sys
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import threading
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# 初始提示只显示一次
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initial_prompt = """
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输入线程启动提示
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--------------------------
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可以随时输入新值来更新系统状态
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格式：需求重量,完成重量,溢出状态
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例如：500,300,大堆料 或 500,300,小堆料 或 500,300,未堆料
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输入'q'退出程序
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--------------------------
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"""
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print(initial_prompt)
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# 标记输入线程为活跃状态
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output_redirector.input_thread_active = True
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while True:
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try:
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import termios
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import tty
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# 获取当前终端设置
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old_settings = termios.tcgetattr(sys.stdin)
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try:
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tty.setcbreak(sys.stdin.fileno()) # 设置为cbreak模式，允许逐字符读取
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# 显示初始提示和当前输入
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sys.stdout.write("\r" + " " * 100 + "\r")
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sys.stdout.write(f"{output_redirector.input_prompt}{output_redirector.current_input}")
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sys.stdout.flush()
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while True:
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char = sys.stdin.read(1) # 读取一个字符
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if char == '\x03': # Ctrl+C
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raise KeyboardInterrupt
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elif char in ['\r', '\n']: # 回车键
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sys.stdout.write("\n")
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sys.stdout.flush()
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break
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elif char == '\x7f': # 退格键
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if len(output_redirector.current_input) > 0:
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output_redirector.current_input = output_redirector.current_input[:-1]
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# 从显示中删除最后一个字符
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sys.stdout.write("\b \b")
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sys.stdout.flush()
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else:
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output_redirector.current_input += char
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sys.stdout.write(char)
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sys.stdout.flush()
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finally:
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# 恢复终端设置
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
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# 获取最终输入并重置当前输入
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user_input = output_redirector.current_input
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output_redirector.current_input = "" # 重置为下一次输入准备
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if user_input.lower() == 'q':
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print("\n收到退出信号，正在关闭系统...")
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output_redirector.input_thread_active = False
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system.stop()
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break
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# 分割输入值，处理不同参数数量
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input_parts = [part.strip() for part in user_input.split(',')]
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if len(input_parts) >= 2:
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# 更新基本参数
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system.state._mould_need_weight = float(input_parts[0])
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system.state._mould_finish_weight = float(input_parts[1])
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if system.state._mould_finish_weight>400:
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system.state.overflow_detected='大堆料'
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# 输出更新结果，使用换行符分隔
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update_msg = f"\n已更新：\n 需求重量 = {system.state._mould_need_weight} kg\n 完成重量 = {system.state._mould_finish_weight} kg"
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print(f"溢出状态 = {system.state.overflow_detected}")
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print(update_msg)
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else:
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print("\n输入格式错误：至少需要输入需求重量和完成重量")
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except ValueError as e:
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print(f"\n输入格式错误，请重新输入。错误信息：{e}")
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except Exception as e:
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print(f"\n发生错误：{e}")
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output_redirector.input_thread_active = False
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break
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# 启动输入线程
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input_thread = threading.Thread(target=input_thread, daemon=True)
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input_thread.start()
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system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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# 启动视觉控制
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system.camera_controller.start_cameras()
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system.start_visual_control()
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# 主线程保持运行
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while True:
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# print(f'当前重量22:{system.state._mould_finish_weight:.2f}kg, 目标重量:{system.state._mould_need_weight:.2f}kg')
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time.sleep(1)
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if __name__ == "__main__":
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main()
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