Feeding_control_system/feeding/process.py

from enum import IntEnum
from core.state import FeedStatus
from service.mould_service import MouldService
from busisness.blls import ArtifactBll
from busisness.models import ArtifactInfoModel,ArtifactInfo
import time
from datetime import datetime
from hardware.RFID.rfid_service import rfid_service
from config.settings import app_set_config

class FeedingProcess:
    def __init__(self, relay_controller, inverter_controller,
                 transmitter_controller, vision_detector,
                 camera_controller, state):
        self.relay_controller = relay_controller
        self.artifact_bll = ArtifactBll()
        self.mould_service = MouldService()
        self.inverter_controller = inverter_controller
        self.transmitter_controller = transmitter_controller
        self.vision_detector = vision_detector
        self.camera_controller = camera_controller
        self.state = state
        self.state._feed_status = FeedStatus.FNone

        #标志位用，是否是第一次运行
        self.is_first_flag=True

    def start_feeding(self):
        loc_state=self.state
        loc_state._upper_weight=self.transmitter_controller.read_data(1)
        loc_state._lower_weight=self.transmitter_controller.read_data(2)
        # loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
        """开始生产管片"""
        if loc_state._feed_status == FeedStatus.FNone:
            return
        elif loc_state._feed_status == FeedStatus.FCheckM:
            print("---------------初始化数据------------------")
            loc_state._mould_need_weight= 1200
            loc_state._feed_status = FeedStatus.FFeed
            return
        elif loc_state._feed_status == FeedStatus.FFeed:
            print("----------------下料------------------")
            loc_state.mould_vibrate_time=time.time()
            loc_state._mould_frequency=app_set_config.frequencies[0]
            loc_state._mould_vibrate_status=1
            #上料斗重量
            loc_state.initial_upper_weight=loc_state._upper_weight
            #下料斗重量
            loc_state.initial_lower_weight=loc_state._lower_weight    
            self.feeding_stage(loc_state)
            # if loc_state._mould_need_weight>loc_state.initial_lower_weight:
            #     self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
            #     loc_state._feed_status = FeedStatus.FFeed1      
            # else:
            #     loc_state._feed_status = FeedStatus.FFeed1    
            return
        elif loc_state._feed_status == FeedStatus.FFinished:
             """完成当前批次下料"""
             print("振捣完成")
             print("关闭所有网络继电器")
             self.relay_controller.close_all()
             return
 
    def _start_feeding_stage(self):
        """启动指定下料阶段"""
        """开始分步下料"""
        print("开始分步下料过程")
        self.transfer_material_from_upper_to_lower()

    def transfer_material_from_upper_to_lower(self,loc_state,initial_upper_weight,initial_lower_weight):
        
        """target_upper_weight：转移后剩下的上料斗重量"""
        # 如果低于单次，全部卸掉
        _max_lower_weight=app_set_config.max_lower_volume*loc_state.density
        # if (initial_lower_weight+feed_weight>_max_lower_weight):
        feed_weight=_max_lower_weight-initial_lower_weight
        
        target_upper_weight=initial_upper_weight-feed_weight
        target_upper_weight = max(target_upper_weight, 0)  
        # 确保下料斗出砼门关闭,同步关5秒
        self.relay_controller.control_lower_close()
        # 打开上料斗出砼门
        # self.relay_controller.control_upper_open()
        #一直打开3秒
        self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
        time.sleep(3)
        loc_state._upper_door_closed=False
        # 等待物料流入下料斗，基于上料斗重量变化控制
     
        start_time = time.time()
        # timeout = 30  # 30秒超时

        while loc_state.running:
            # self.relay_controller.control_upper_open_sync()
            self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close')
            current_upper_weight = self.transmitter_controller.read_data(1)
            # 如果无法读取重量，继续尝试
            if current_upper_weight is None:
                print("无法读取上料斗重量，继续尝试...")
                time.sleep(1)
                continue
            
            loc_state._upper_weight=current_upper_weight
            loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
            print(f"上料斗当前重量: {current_upper_weight:.2f}kg")

            # 如果达到目标重量，则关闭上料斗出砼门
            if current_upper_weight <= target_upper_weight + 50:  # 允许50kg的误差范围
                print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
                print(f"花费时间 {time.time() - start_time:.2f}秒")
                break
            # time.sleep(1)
            # self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
            # time.sleep(0.2)

        loc_state._upper_door_closed=True
        # 关闭上料斗出砼门d
        self.relay_controller.control_upper_close()
        
        #测试用
        print("上料斗下料完成")

    def feeding_stage(self,loc_state):
        """第一阶段下料：下料斗向模具车下料（低速）"""
        print("开始下料")
        # self.relay_controller.control
        first_finish_weight=0
        while True:
            current_weight = loc_state._lower_weight
            loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
            first_finish_weight=loc_state._mould_finish_weight
            if current_weight<100:
                #关5秒
                self.relay_controller.control_lower_close()
                break

            time.sleep(1)

        #打开上料斗出砼门
        self.relay_controller.control_upper_open_sync(5)
        while True:
            
            if loc_state._upper_weight<3000:
                #关5秒
                self.relay_controller.control_upper_close()
                break
        loc_state.initial_lower_weight=loc_state.lower_weight
        while True:
            current_weight = loc_state._lower_weight
            loc_state._mould_finish_weight=first_finish_weight+loc_state.initial_lower_weight-current_weight
            if current_weight<100:
                #关5秒
                self.relay_controller.control_lower_close()
                break

            time.sleep(1)
         

               
            

    
    def return_upper_door_to_default(self):
        """上料斗回到默认位置（搅拌楼下接料位置）"""
        print("上料斗回到默认位置")
        # self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
        self.state._upper_door_position = 'default'