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Feeding_control_system/vision/visual_callback_dq.py

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from pickle import FALSE
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from re import S
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from cv2.gapi import ov
from config.settings import app_set_config
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from core.relay_feed import RelayFeedController
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from hardware.relay import RelayController
from hardware.transmitter import TransmitterController
import time
import threading
from datetime import datetime
import logging
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import queue
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from hardware.upper_plc import OmronFinsPollingService
from vision.muju_cls.muju_utils import run_stable_classification_loop
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from vision.camera_picture import save_camera_picture
from busisness.blls import ArtifactBll,PDRecordBll
from busisness.models import ArtifactInfoModel,PDRecordModel
from service.mould_service import app_web_service
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from core.system_state import SystemState,FeedStatus,Upper_Door_Position
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from dataclasses import asdict
import json
import math
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class VisualCallback:
# 类变量，用于存储实例引用，实现单例检测
_instance = None
_lock = threading.Lock()
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# def __new__(cls,*args, **kwargs):
# """检测实例是否存在，实现单例模式"""
# with cls._lock:
# if cls._instance is None:
# cls._instance = super().__new__(cls)
# return cls._instance
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def __init__(self,
relay_controller:RelayController,
transmitter_controller:TransmitterController,
state:SystemState=None):
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"""初始化视觉回调处理器"""
# 避免重复初始化
if hasattr(self, '_initialized') and self._initialized:
return
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self.relay_controller = relay_controller
self.transmitter_controller = transmitter_controller
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self.relay_feed=RelayFeedController(relay_controller,state)
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self.pd_record_bll=PDRecordBll()
self.state=state
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# 线程安全的参数传递
self._new_data_available = threading.Event()
self._is_processing = threading.Lock()
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#diff参数
self._is_processing_diff = threading.Lock()
self._new_data_diff = threading.Event()
self._current_diff=0
self._current_diff_area=[]
self._is_diff_save=False
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self._stop_event = threading.Event()
# 添加下料斗门控制锁，防止两个线程同时控制
self._door_control_lock = threading.Lock()
# 记录当前控制门的线程名称，用于调试
self._current_controlling_thread = None
#是否启动后的第一个模具
self._is_first_module=True
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#上一次派单方量
self.prev_pd_volume=0.0
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self.init_val()
# self._setup_logging_2()
#F块完成重量的70%，控制夹脚，F块多于这个比例就没有记录了（注意）
self._max_f_angle_ratio=0.7
#完成多少，调整角度比例 ，多于0.8就没记录了（注意）
self._max_angle_radio=0.8
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#重量大于95%，停留时间2秒，其他的1秒
self._weight_ratio_955=0.955
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#完成多少，忽略未浇筑满
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self._max_ignore_radio=0.8
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self._mould_accept_aligned=None
self._mould_before_aligned=False
#模具开始浇筑时间
self._time_mould_begin=''
#模具结束浇筑时间
self._time_mould_end=''
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#记录当前模具信息model
self._cur_mould_model=None
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self.plc_valid_data=[5,37]
self.plc_valid_data_jbl=[66,98]
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# self.db_queue=queue.Queue()
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# 获取视觉数据线程（angle_visual_callback推送的数据），并进行处理，注意处理视觉进行夹角控制
self.callback_thread = None
self.diff_thread = None
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def init_val(self):
#初始化值
"""初始化视觉回调处理器"""
self.angle_mode = "normal"
self.overflow = False
self.is_start_visual=False
# 线程安全的参数传递
self._current_angle = None
self._overflow_detected = None
# 新增标志位：指示safe_control_lower_close是否正在执行
self._is_safe_closing = False
self._is_feed_start=True
#未浇筑满时间，用于确定是否进入未浇筑满
self._before_finish_time=None
#进入未浇筑满状态标志位
self._is_before_finish=False
#是否浇筑满标志位
self._is_finish=False
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#用于保存diff标志位
# self._is_diff_save=False
#用于判断当前判断是否对齐(diff)
self._is_diff_unaligned=False
self._diff_f_val=0
self._diff_f_area=[]
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#浇筑完成比例（重量）
self._is_finish_ratio=0
#下料阶段，汇总时用枚举
self._is_feed_stage=0
#振动相关参数
self._last_arch_one_weight=0
self._last_arch_two_weight=0
self._last_arch_three_weight=0
self._last_arch_four_weight=0
self._last_arch_five_weight=0
self._last_arch_time=0
#是否为F块
self._is_small_f=None
#采集数据用，下料重量=之前下的重量+最后一阶段(下-->模具车)重量差
#记录最后一次下料斗到模具车前的重量
self._finish_weight=0
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#记录最后一次下料斗到车初始重量
self._inital_finish_lweight=0
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#记录视觉停止下料时的重量（计算后面加了多少）
self._last_lower_weight=0
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#每片开始下料斗的重量
self._init_lower_weight=0
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# 初始化控制间隔和堆料状态跟踪属性
self._last_overflow_state = False
self._last_control_time = 0
self._is_running=True
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self._is_stop_one_seconds=False
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self._initialized = True
self.plc_data=None
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self._mould_need_weight=0
#点动等级
self._point_speed_grade=0
self._point_weight=0
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def start_visual_thread(self)->bool:
"""浇筑状态回调线程"""
self.callback_thread = threading.Thread(
target=self._run_thread_loop,
daemon=True
)
self.callback_thread.start()
#diff线程值传递后处理
self.diff_thread = threading.Thread(
target=self._diff_temp,
daemon=True
)
self.diff_thread.start()
return True
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def angle_visual_callback(self, current_angle, overflow_detected, mould_aligned):
"""
视觉控制主逻辑，供外部推送数据
使用单个持续运行的线程，通过参数设置传递数据
如果线程正在处理数据，则丢弃此次推送
"""
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到推送数据")
# 尝试获取处理锁，若失败则说明正在处理，丢弃数据
if not self._is_processing.acquire(blocking=False):
print("回调线程仍在执行，丢弃此次推送数据")
return
try:
# 更新参数
if overflow_detected is not None:
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# print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到溢料:{overflow_detected}")
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self._overflow_detected = overflow_detected
if current_angle is not None:
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到角度:{current_angle}")
self._current_angle = current_angle
if mould_aligned is not None:
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到对齐:{mould_aligned}")
self._mould_accept_aligned=mould_aligned
# 通知线程有新数据可用
self._new_data_available.set()
finally:
# 释放处理锁
self._is_processing.release()
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def diff_visual_callback(self, current_diff,current_area):
"""
视觉模型diff回调
"""
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到推送数据")
# 尝试获取处理锁，若失败则说明正在处理，丢弃数据
if not self._is_processing_diff.acquire(blocking=False):
print("222回调线程仍在执行，丢弃此次推送数据")
return
try:
# 更新参数
if current_diff is not None:
# print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到diff:{current_diff}")
self._current_diff = current_diff
self._diff_f_val=current_diff
if current_area is not None:
# print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到area:{current_area}")
self._current_diff_area = current_area
self._diff_f_area = current_area
# 通知线程有新数据可用
self._new_data_diff.set()
finally:
# 释放处理锁
self._is_processing_diff.release()
def _diff_temp(self):
"""
接受视觉回调数据
线程主循环，持续运行
等待新数据，然后调用处理方法
"""
_temp_diff_count=0
_temp_area_count=0
_temp_diff_str2=''
_temp_area_str2=''
while not self._stop_event.is_set():
# print('-----等待diff 数据------')
# 等待新数据可用
self._new_data_diff.wait()
# 重置事件
self._new_data_diff.clear()
#_is_diff_save是否完成此片
if self._is_diff_save:
# print('-----进入diff 数据------')
#完成了此片，然后是对齐状态
if not self._is_diff_unaligned:
# 处理数据
# print('-----进入对齐数据------')
if self._current_diff is not None and self._current_diff_area is not None:
_timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
if _temp_diff_count<=10 and self._current_diff!=0:
_temp_diff_str=f"diff , {_timestamp} , {self._current_diff}\n"
_temp_diff_count+=1
with open('weight.txt', 'a') as f:
f.write(_temp_diff_str+'\n')
# print('-----保存成功(diff 数据)------')
if _temp_area_count<=10 and self._current_diff_area!=[]:
_temp_area_str=f"area , {_timestamp} , {str(self._current_diff_area)}\n"
_temp_area_count+=1
with open('weight.txt', 'a') as f:
f.write(_temp_area_str+'\n')
# print('-----保存成功(area 数据)------')
if _temp_diff_count>=10 and _temp_area_count>=10:
self._is_diff_save=False
time.sleep(1)
continue
# else:
#变成了未对齐，拉起盖板后，重新计数
# if _temp_diff_count>=10 and _temp_area_count>=10:
# _temp_diff_count=0
# _temp_area_count=0
# self._is_diff_save=False
# _temp_diff_str=''
# _temp_area_str=''
self._current_diff=0
self._current_diff_area=[]
_temp_diff_count=0
_temp_area_count=0
_temp_diff_str=''
_temp_area_str=''
time.sleep(1)
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def _arch_loop(self):
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"""破拱线程"""
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while self._is_running:
try:
current_time = time.time()
# 检查下料斗破拱（只有在下料过程中才检查）
if self._is_feed_stage==1: # 下料斗--》模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None and _arch_weight>0:
# 检查重量变化是否过慢
_weight_changed=abs(_arch_weight - self._last_arch_one_weight)
#_last_arch_one_weight默认为0，一开始就进入振动
print(f'---------------第一阶段，重量变化:{_weight_changed}------------------')
if (_weight_changed< 200) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第一阶段振动5秒（小于200KG）-----------------')
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self.relay_feed.control_arch_lower_open_sync(5)
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self._last_arch_one_weight = _arch_weight
continue
self._last_arch_one_weight = _arch_weight
elif self._is_feed_stage==2: #上料斗到下料斗，料多，谨慎振动
_arch_weight = self.transmitter_controller.read_data(1)
if _arch_weight is not None and _arch_weight>0:
# 检查重量变化是否过慢
_weight_changed=abs(_arch_weight - self._last_arch_two_weight)
print(f'---------------第二阶段，重量变化:{_weight_changed}------------------')
if (_weight_changed < 100) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
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#print('---------------------第二阶段振动3秒-----------------')
# self.relay_feed.control_arch_upper_open_sync(3)
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self._last_arch_two_weight = _arch_weight
continue
self._last_arch_two_weight = _arch_weight
elif self._is_feed_stage==3: #第二次下料斗-》模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None and _arch_weight>0:
#刚开始不需要振动，料太多
if self._last_arch_three_weight>0:
_weight_changed=abs(_arch_weight - self._last_arch_three_weight)
# 检查重量变化是否过慢
print(f'---------------第三阶段，重量变化:{_weight_changed}------------------')
if (_weight_changed < 100) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第三阶段振动5秒(小于100KG）-----------------')
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self.relay_feed.control_arch_lower_open_sync(5)
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self._last_arch_three_weight = _arch_weight
continue
self._last_arch_three_weight = _arch_weight
elif self._is_feed_stage==4: #上料斗--》下料斗
_arch_weight = self.transmitter_controller.read_data(1)
if _arch_weight is not None and _arch_weight>0:
# 检查重量变化是否过慢
_weight_changed=abs(_arch_weight - self._last_arch_four_weight)
print(f'---------------第二阶段，重量变化:{_weight_changed}------------------')
if (_weight_changed < 200) and \
(current_time - self._last_arch_time) > 2:
self._last_arch_time = current_time
print('---------------------第四阶段振动5秒-----------------')
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#重量不准，暂时不振动
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# self.relay_feed.control_arch_upper_open_sync(5)
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self._last_arch_four_weight = _arch_weight
continue
self._last_arch_four_weight = _arch_weight
elif self._is_feed_stage==5: #下料斗->模具车
_arch_weight = self.transmitter_controller.read_data(2)
if _arch_weight is not None and _arch_weight>0:
if self._last_arch_five_weight>0:
_weight_changed=abs(_arch_weight - self._last_arch_five_weight)
print(f'---------------第五阶段，重量变化:{_weight_changed}------------------')
_min_arch_weight=20
if self._is_finish_ratio<self._max_angle_radio:
_min_arch_weight=50
if (_weight_changed < _min_arch_weight) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print(f'---------------------第五阶段振动3秒(小于{_min_arch_weight}kg)）-----------------')
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self.relay_feed.control_arch_lower_open_sync(3)
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self._last_arch_five_weight = _arch_weight
continue
self._last_arch_five_weight = _arch_weight
# 更新最后读取时间
self._last_arch_time = current_time
time.sleep(2)
except Exception as e:
print(f"监控线程错误: {e}")
def _aligned_get_times(self,flag):
"""
获取对齐,1为对齐，0为未对齐
"""
_current_times=time.time()
_temp_aligned_count=0
if flag==1:
while time.time()-_current_times<=2:
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# print(f'-------------{self._mould_accept_aligned}-----------------')
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if self._mould_accept_aligned=='盖板对齐':
_temp_aligned_count=_temp_aligned_count+1
else:
_temp_aligned_count=0
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if _temp_aligned_count>0:
print(f'-------------{datetime.now().strftime("%H:%M:%S")} 盖板对齐,次数：{_temp_aligned_count}-----------------')
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time.sleep(0.2)
self._mould_accept_aligned=''
if _temp_aligned_count>=8:
return True
else:
return False
elif flag==2:
while time.time()-_current_times<=5:
if self._mould_accept_aligned=='盖板未对齐':
_temp_aligned_count=_temp_aligned_count+1
else:
_temp_aligned_count=0
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if _temp_aligned_count>0:
print(f'-------------{datetime.now().strftime("%H:%M:%S")} 盖板未对齐,次数：{_temp_aligned_count}-----------------')
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time.sleep(0.2)
self._mould_accept_aligned=''
if _temp_aligned_count>=20:
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self._is_diff_unaligned=True
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return True
else:
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self._is_diff_unaligned=False
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return False
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def _no_aligned_diff(self):
"""
diff 未对齐检测
"""
_current_times=time.time()
_temp_aligned_count=0
while time.time()-_current_times<=1:
# print(f'-------------{self._mould_accept_aligned}-----------------')
if self._mould_accept_aligned=='盖板未对齐':
_temp_aligned_count=_temp_aligned_count+1
else:
_temp_aligned_count=0
# print(f'-------------{datetime.now().strftime("%H:%M:%S")} 盖板对齐,次数：{_temp_aligned_count}-----------------')
time.sleep(0.2)
if _temp_aligned_count>=3:
return True
else:
return False
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def _run_thread_loop(self):
"""
接受视觉回调数据
线程主循环，持续运行
等待新数据，然后调用处理方法
"""
while not self._stop_event.is_set():
# 等待新数据可用
self._new_data_available.wait()
# 重置事件
self._new_data_available.clear()
# 获取当前参数（使用临时变量避免被其他线程修改）
current_angle = self._current_angle
overflow_detected = self._overflow_detected
self._is_feed_start=True
if self.is_start_visual:
# 处理数据
self._process_angle_callback(current_angle, overflow_detected)
time.sleep(0.1)
def _run_feed(self):
变频器集成以及增加点动控制(0209)
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_is_api_request=True
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while True:
# print("------------已启动----------------")
if self._is_feed_start:
# if self.plc_data==5:
#_is_finish_ratio完成 比例，根据重量过滤一下
if self._is_first_module and self._overflow_detected=='未堆料':
#第一次打开 ，未堆料，检测对齐
变频器集成以及增加点动控制(0209)
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if _is_api_request:
self.get_current_mould()
_is_api_request=False
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_is_aligned=self._aligned_get_times(1)
if _is_aligned:
变频器集成以及增加点动控制(0209)
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_is_api_request=True
print('------------启动程序后，进入第一块-------------')
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self._is_first_module=False
self._mould_before_aligned=True
0313界面对接
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if self._cur_mould_model:
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':2,
'weight':0,
}
变频器集成以及增加点动控制(0209)
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_current_weight=self.transmitter_controller.read_data(2)
if _current_weight:
self._init_lower_weight=_current_weight
else:
print('------------获取上料斗重量失败-------------')
return
self.state._feed_status=FeedStatus.FCheckGB
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# self.is_start_visual=True
self.run_feed_all()
elif self._is_finish and self._is_finish_ratio>=0.7:
#后续流程--》检查到未对齐，--》后又对齐+未堆料
变频器集成以及增加点动控制(0209)
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#print('------------------进入连续块检测------------------')
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if self._mould_before_aligned:
#未对齐，检测对齐
_is_not_aligned=self._aligned_get_times(2)
if _is_not_aligned:
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#标志位
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self._mould_before_aligned=False
变频器集成以及增加点动控制(0209)
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#print('------------连续盖板未对齐-------------')
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else:
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if _is_api_request:
self.get_current_mould()
_is_api_request=False
_is_aligned=self._aligned_get_times(1)
if _is_aligned and self._overflow_detected=='未堆料':
print('------------进入连续生产-------------')
self._mould_before_aligned=True
_is_api_request=True
_current_weight=self.transmitter_controller.read_data(2)
if not _current_weight:
print('------------获取上料斗重量失败-------------')
return
# print('-----------进入连续块111111-----------')
# self.is_start_visual=True
if self._last_lower_weight>0:
with open('weight.txt', 'a') as f:
f.write(f"补料:{self._last_lower_weight-_current_weight}\n\n"+"="*32)
self.init_val()
self._init_lower_weight=_current_weight
self.state._feed_status=FeedStatus.FCheckGB
self.run_feed_all()
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# else:
# print("-----------上料斗未就位----------------")
# print("---------3--上料斗未就位----------------")
time.sleep(0.2)
def safe_control_lower_close(self,duration=3):
变频器集成以及增加点动控制(0209)
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"""线程安全的下料斗关闭方法"""
thread_name = threading.current_thread().name
# print(f"[{thread_name}] 尝试关闭下料斗...")
# 设置标志位，指示正在执行安全关闭操作
self._is_safe_closing = True
try:
with self._door_control_lock:
self._current_controlling_thread = thread_name
print(f"关闭下料斗{duration}秒")
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
time.sleep(duration)
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
self._current_controlling_thread = None
#print(f"[{thread_name}] 释放下料斗控制权")
finally:
# 无论成功失败，都要重置标志位
self._is_safe_closing = False
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def close_lower_door_visual(self):
"""关闭下料斗门"""
self.is_start_visual=False
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#休眠让视觉先结束
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time.sleep(0.5)
self.safe_control_lower_close()
def _visual_close(self):
self.is_start_visual=False
self._is_finish=True
变频器集成以及增加点动控制(0209)
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self.state.vf_status=3
self.state._feed_status=FeedStatus.FFinished
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self._is_feed_stage=0
print(f'--------进入关闭(浇筑满)-----------')
self.safe_control_lower_close(3)
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print(f'--------浇筑完成-----------')
0313界面对接
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if self._cur_mould_model:
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':3,
'weight':self.state._mould_finish_weight,
}
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# try:
# self.db_queue.put_nowait({
# "f":self._is_small_f,
# "Status": 3
# })
# except queue.Full:
# print("数据库队列已满，无法添加数据")
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#记录重量
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight is not None:
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self._last_lower_weight=_current_weight
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self._finish_weight= self._finish_weight+(self._inital_finish_lweight-_current_weight)
with open('weight.txt', 'a') as f:
timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
if self._is_small_f:
变频器集成以及增加点动控制(0209)
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if self._cur_mould_model:
f.write(f"{self._time_mould_begin},{timestamp},{self._cur_mould_model.MouldCode},F,{self._finish_weight}\n")
else:
f.write(f"{self._time_mould_begin},{timestamp},F,{self._finish_weight}\n")
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else:
变频器集成以及增加点动控制(0209)
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if self._cur_mould_model:
f.write(f"{self._time_mould_begin},{timestamp},{self._cur_mould_model.MouldCode},B,{self._finish_weight}\n")
else:
f.write(f"{self._time_mould_begin},{timestamp},B,{self._finish_weight}\n")
#开启保存diff
self._is_diff_save=True
#保存图片
save_camera_picture()
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def run_feed_all(self):
"""
全流程下料：包括判断模具类型
"""
_is_f= run_stable_classification_loop()
print(f'------------已判断出模具类型: {_is_f}-------------')
if _is_f is not None:
if _is_f=='模具车1':
self._is_small_f=True
print('-------------F块模具--------------')
变频器集成以及增加点动控制(0209)
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# print('-------------F块模具--------------')
# print('-------------F块模具--------------')
# self.send_pd_data()
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self.run_feed_f()
elif _is_f=='模具车2':
self._is_small_f=False
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print('-------------B-L模具---------------')
# self.send_pd_data()
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self.run_feed()
if self._is_small_f is None:
print('-----------未判断出模具类型--------------')
return
def run_feed_f(self):
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料（F块）--------------------")
self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
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initial_lower_weight=self._init_lower_weight
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first_finish_weight=0
self._finish_weight=first_finish_weight
self._inital_finish_lweight=initial_lower_weight
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self._mould_need_weight=0.54*2416
need_total_weight=self._mould_need_weight
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if initial_lower_weight>100:
变频器集成以及增加点动控制(0209)
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self.state._feed_status=FeedStatus.FFeed5
self.state.vf_status=2
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if not self._is_finish:
self.is_start_visual=True
self._is_feed_stage=5
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为下料斗未就位，跳出循环
print('------------f下到模具车,下料斗重量异常----------------')
print('------------f下到模具车,下料斗重量异常----------------')
self.close_lower_door_visual()
return
#视觉处理关闭，异常的话重量没有生效
continue
cur_weight_none=0
first_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio=(first_finish_weight)/need_total_weight
0313界面对接
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self.state._mould_finish_weight=first_finish_weight
self.state._mould_finish_ratio=self._is_finish_ratio
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print(f'------------已下料比例: {self._is_finish_ratio}-------------')
变频器集成以及增加点动控制(0209)
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# if self._is_finish_ratio>=1:
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#关5秒
#大于0.7后不再检测了，直接交给视觉控制夹脚
# print(f'------------已下料比例: {self._is_finish_ratio}-------------')
变频器集成以及增加点动控制(0209)
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# break
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# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
变频器集成以及增加点动控制(0209)
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time.sleep(0.5)
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# initial_lower_weight=_current_lower_weight
print(f'------------已下料（F）: {first_finish_weight}kg-------------')
print(f'------------已下料（F）: {first_finish_weight}kg-------------')
变频器集成以及增加点动控制(0209)
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# print(f'------------已完成-------------')
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def run_feed(self):
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料（普通块）--------------------")
self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
0313界面对接
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loc_relay=self.relay_feed
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loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
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initial_lower_weight=self._init_lower_weight
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# initial_upper_weight=loc_mitter.read_data(1)
first_finish_weight=0
变频器集成以及增加点动控制(0209)
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self._mould_need_weight=1.91*2416
need_total_weight=self._mould_need_weight
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# start_time=None
self.is_start_visual=True
变频器集成以及增加点动控制(0209)
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self.state._feed_status=FeedStatus.FFeed1
self.state.vf_status=1
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if initial_lower_weight>100:
#下料斗的料全部下完
self._is_feed_stage=1
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
print("-----------下料斗重量异常(第一次下到模具车)--------------")
self.close_lower_door_visual()
return
continue
cur_weight_none=0
0313界面对接
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self.state._mould_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio= self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
变频器集成以及增加点动控制(0209)
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print(f'------------已下料比例: {self._is_finish_ratio}-------------')
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if current_weight<250 and current_weight>0:
变频器集成以及增加点动控制(0209)
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# if current_weight>100:
#100,上面粘贴的，振动一下
0313界面对接
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# loc_relay.control_arch_lower_open_async(5)
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self.close_lower_door_visual()
break
time.sleep(1)
_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常---------")
return
first_finish_weight=initial_lower_weight-_current_lower_weight
# initial_lower_weight=_current_lower_weight
print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
0313界面对接
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while self.plc_data not in self.plc_valid_data:
变频器集成以及增加点动控制(0209)
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#print('------------上料斗未就位----------------')
# print('------------上料斗未就位----------------')
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time.sleep(1)
0313界面对接
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if self.plc_data in self.plc_valid_data:
变频器集成以及增加点动控制(0209)
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print(f'------------上料斗就位（上料斗往下料斗阶段）-------------')
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#打开上料斗出砼门，开5就，开三分之一下
loc_relay.control_upper_open_sync(6)
self._is_feed_stage=2
loc_time_count=1
upper_open_time=time.time()
0313界面对接
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self.state._upper_door_closed=1
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while not self._is_finish:
current_upper_weight = loc_mitter.read_data(1)
if current_upper_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第一次上到下,上料斗重量异常----------------')
print('------------第一次上到下,上料斗重量异常----------------')
0313界面对接
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self.state._upper_door_closed=0
loc_relay.control_upper_close_sync(5+loc_time_count)
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return
continue
cur_weight_none=0
重量记录0104
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_two_lower_weight=loc_mitter.read_data(2)
if _two_lower_weight is None:
_two_lower_weight=0
变频器集成以及增加点动控制(0209)
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if (current_upper_weight<3200 and current_upper_weight>0) or _two_lower_weight>3200:
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#关5秒,loc_time_count多关一秒
0313界面对接
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self.state._upper_door_closed=0
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loc_relay.control_upper_close_sync(5+loc_time_count)
break
else:
变频器集成以及增加点动控制(0209)
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if time.time()-upper_open_time>=4:
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if loc_time_count<6:
upper_open_time=time.time()
loc_relay.control_upper_open_sync(0.8)
loc_time_count=loc_time_count+0.8
else:
time.sleep(0.5)
else:
loc_relay.control_upper_close_sync(6+loc_time_count)
0313界面对接
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self.state._upper_door_closed=0
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self.is_start_visual=True
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
print("-------下料斗重量异常(第二次下料到模具车)---------")
return
self._is_feed_stage=3
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
print("-------下料斗重量异常(第二次下料到模具车)---------")
self.close_lower_door_visual()
return
continue
cur_weight_none=0
0313界面对接
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self.state._mould_finish_weight=first_finish_weight+initial_lower_weight-current_weight
self._is_finish_ratio=self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
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if current_weight<250:
变频器集成以及增加点动控制(0209)
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# if current_weight>100:
#100,上面粘贴的，振动一下
0313界面对接
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# loc_relay.control_arch_lower_open_async(5)
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self.close_lower_door_visual()
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
变频器集成以及增加点动控制(0209)
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time.sleep(0.5)
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_current_lower_weight=loc_mitter.read_data(2)
if _current_lower_weight is None:
print("-------下料斗重量异常(第二次下到模)---------")
return
first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
0313界面对接
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if self.plc_data in self.plc_valid_data:
self.state._upper_door_closed=2
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#第二次上料斗向下料斗转移
loc_relay.control_upper_open_sync(12)
loc_time_count=1
upper_open_time=time.time()
upper_open_time_2=None
#第二次到下料斗还需要的量
#loc_left_need_weight=need_total_weight-first_finish_weight
变频器集成以及增加点动控制(0209)
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#initial_upper_weight=loc_mitter.read_data(1)
#start_time=None
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self._is_feed_stage=4
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while not self._is_finish:
# print(f'------------上料斗向下料斗转移22222-------------')
current_upper_weight = loc_mitter.read_data(1)
if current_upper_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第二次上到下,上料斗重量异常----------------')
print('------------第二次上到下,上料斗重量异常----------------')
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self.state._upper_door_closed=0
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loc_relay.control_upper_close_sync(15)
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return
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continue
cur_weight_none=0
if (current_upper_weight<600 and current_upper_weight>0) or upper_open_time_2 is not None:
if upper_open_time_2 is None:
upper_open_time_2=time.time()
if current_upper_weight<400 or time.time()-upper_open_time_2>5:
loc_relay.control_arch_upper_open_async(5)
# loc_relay.control_arch_upper_open()
loc_relay.control_upper_open_sync(5)
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self.state._upper_door_closed=2
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# start_time=None
#5秒后关闭
loc_relay.control_upper_close_after()#control_upper_close_sync(8+loc_time_count)
break
变频器集成以及增加点动控制(0209)
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time.sleep(0.5)
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else:
变频器集成以及增加点动控制(0209)
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if time.time()-upper_open_time>=1:
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# if loc_time_count<6:
upper_open_time=time.time()
loc_relay.control_upper_open_sync(1.2)
loc_time_count=loc_time_count+1
else:
time.sleep(0.5)
else:
loc_relay.control_upper_close_sync(15)
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self.state._upper_door_closed=0
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# time.sleep(0.4)
#第三次下料斗转移到模具车
if not self._is_finish:
self.is_start_visual=True
initial_lower_weight=loc_mitter.read_data(2)
self._finish_weight=first_finish_weight
self._inital_finish_lweight=initial_lower_weight
if initial_lower_weight is None:
print("-------下料斗重量异常(第三次下到模具车)---------")
return
self._is_feed_stage=5
while not self._is_finish:
current_weight = loc_mitter.read_data(2)
if current_weight is None:
cur_weight_none+=1
if cur_weight_none>max_weight_none:
#重量异常退出
print('------------第三次下到模具车,下料斗重量异常----------------')
self.close_lower_door_visual()
return
continue
cur_weight_none=0
second_finish_weight=initial_lower_weight-current_weight
0313界面对接
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self.state._mould_finish_weight=second_finish_weight+first_finish_weight
self._is_finish_ratio=self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
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print(f'------------已下料比例: {self._is_finish_ratio}-------------')
变频器集成以及增加点动控制(0209)
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# if self._is_finish_ratio>=1:
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#关5秒
# print(f'------------已下料比例: {self._is_finish_ratio}-------------')
变频器集成以及增加点动控制(0209)
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# break
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# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
变频器集成以及增加点动控制(0209)
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time.sleep(0.5)
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# _current_lower_weight=loc_mitter.read_data(2)
# first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
# print(f'------------已下料: {first_finish_weight}kg-------------')
# print(f'------------已下料: {first_finish_weight}kg-------------')
变频器集成以及增加点动控制(0209)
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# print(f'------------已完成-------------')
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def _process_angle_callback(self, current_angle, overflow_detected):
"""
实时精细控制 - 基于PID思想，无固定间隔
"""
try:
# 记录控制时间戳（用于微分计算，而非限制）
current_time = time.time()
# 确保所有PID相关属性都被正确初始化
if not hasattr(self, '_last_control_time'):
self._last_control_time = current_time
if not hasattr(self, '_last_error'):
self._last_error = 0
if not hasattr(self, '_error_integral'):
self._error_integral = 0
# print(f"{self.angle_mode}")
self.overflow = overflow_detected in ["大堆料", "小堆料"]
if current_angle is None:
return
变频器集成以及增加点动控制(0209)
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 角度11: {current_angle:.2f}°,{overflow_detected},diff_f_val:{self._diff_f_val},diff_f_area:{self._diff_f_area}")
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变频器集成以及增加点动控制(0209)
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if self._is_small_f:
if self._is_finish_ratio>=1.02:
print('重量达到最大比例，浇筑满关闭')
self._visual_close()
return
elif self._is_finish_ratio>=0.9:
if (self._diff_f_val>=427 and self._diff_f_val<=450):
print('------------diff到达浇筑满-------------')
self._visual_close()
return
elif (len(self._diff_f_area)>0 and self._diff_f_area[-1]>=33400 and self._diff_f_area[-1]<=34500):
print('------------area到达浇筑满-------------')
self._visual_close()
return
else:
if self._is_finish_ratio>=1.01:
print('重量达到最大比例，浇筑满关闭')
self._visual_close()
return
elif self._is_finish_ratio>=0.93:
if (self._diff_f_val>=460 and self._diff_f_val<=510):
print('------------diff到达浇筑满-------------')
self._visual_close()
return
if (len(self._diff_f_area)>0 and self._diff_f_area[-1]>=38200 and self._diff_f_area[-1]<=41000):
print('------------area到达浇筑满-------------')
self._visual_close()
return
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if overflow_detected == "未浇筑满" or self._is_before_finish:
if self._before_finish_time is None:
self._before_finish_time=current_time
变频器集成以及增加点动控制(0209)
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self.safe_control_lower_close(1)
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print('-----------------关闭（未浇筑满）--------------------')
# time.sleep(3)
else:
变频器集成以及增加点动控制(0209)
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if not self._is_stop_one_seconds:
#根据角度来计算还需要多久完全关闭
if current_angle>=20:
self.safe_control_lower_close(2)
elif current_angle>=10 and current_angle<20:
self.safe_control_lower_close(1)
elif current_angle>=6 and current_angle<10:
self.safe_control_lower_close(0.5)
self._is_stop_one_seconds=True
elif current_angle>7:
#点动状态下，如果关闭后角度大于7度，关紧
self.safe_control_lower_close(0.2)
_open_time=0.3
_sleep_time=0.3
_close_time=0.5
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if overflow_detected=='浇筑满':
变频器集成以及增加点动控制(0209)
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if self._is_small_f:
self._visual_close()
return
else:
if self._diff_f_val>=410 and self._diff_f_val<450:
#排除这个范围的关闭
print(f'浇筑满状态，diff_f_val:{self._diff_f_val},不关闭')
_open_time=0.5
_sleep_time=0.3
_close_time=0.7
else:
self._visual_close()
return
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# print(f'--------已关闭已关闭-----------')
elif overflow_detected=="大堆料":
print(f'--------未浇筑满，大堆料-----------')
变频器集成以及增加点动控制(0209)
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elif overflow_detected=="小堆料":
print(f'--------未浇筑满，小堆料-----------')
_open_time=0.5
_sleep_time=0.3
_close_time=0.7
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else:
变频器集成以及增加点动控制(0209)
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if self._is_small_f:
_open_time=0.6
_sleep_time=0.3
_close_time=0.8
重量记录0104
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else:
变频器集成以及增加点动控制(0209)
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if self._is_finish_ratio<0.9:
_open_time=1
_sleep_time=0.3
_close_time=1.2
#之前慢的参数
# _open_time=0.8
# _sleep_time=0.3
# _close_time=1
elif self._is_finish_ratio<0.95 and self._is_finish_ratio>=0.9:
if self._point_weight>=10:
_open_time=0.7
_sleep_time=0.3
_close_time=0.9
else:
#之前慢的参数
# _open_time=0.8
# _sleep_time=0.3
# _close_time=1
_open_time=0.9
_sleep_time=0.3
_close_time=1.1
else:
_open_time=0.6
_sleep_time=0.3
_close_time=0.8
if self._point_speed_grade==1:
if _open_time>0.6:
_open_time=0.6
_sleep_time=0.3
_close_time=0.8
elif self._point_speed_grade==2:
if _open_time>0.5:
_open_time=0.5
_sleep_time=0.3
_close_time=0.7
elif self._point_speed_grade==3:
if _open_time>0.4:
_open_time=0.4
_sleep_time=0.3
_close_time=0.6
elif self._point_speed_grade==4:
if _open_time>0.3:
_open_time=0.3
_sleep_time=0.3
_close_time=0.5
_last_finish_ratio=self._is_finish_ratio
print(f'--------比例开始：{_last_finish_ratio}-----------')
self._pulse_control('open',_open_time)
time.sleep(_sleep_time)
self._pulse_control('close',_close_time)
print(f'--------比例结束：{self._is_finish_ratio}-----------')
self._point_weight=(self._is_finish_ratio-_last_finish_ratio)*self._mould_need_weight
print(f'--------流速：{self._point_weight}-----------')
if self._is_small_f:
time.sleep(2.5)
else:
# if self._is_finish_ratio>= 0.93:
# time.sleep(2)
# print('--------重量已到95.5%，需要2秒休息-----------')
# else:
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time.sleep(1)
变频器集成以及增加点动控制(0209)
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#下得过快，需要2秒休息
if self._point_weight>=65:
time.sleep(5)
self._point_speed_grade=4
elif self._point_weight>=50 and self._point_weight<65:
time.sleep(4)
self._point_speed_grade=3
elif self._point_weight>=35 and self._point_weight<50:
time.sleep(3)
self._point_speed_grade=2
elif self._point_weight>=25 and self._point_weight<35:
time.sleep(2)
self._point_speed_grade=1
elif self._point_weight>=15 and self._point_weight<25:
time.sleep(1)
self._point_speed_grade=0
else:
self._point_speed_grade=0
self._is_before_finish=True
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if self._is_finish_ratio<=self._max_ignore_radio:
#如果重量未达到最大忽略角度，需要跳出
self._is_before_finish=False
return
elif overflow_detected == "浇筑满":
self._visual_close()
return
else:
self._before_finish_time=None
变频器集成以及增加点动控制(0209)
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#2160KG
if self._is_finish_ratio>=0.85 and not self._is_small_f:
if overflow_detected == "大堆料":
TARGET_ANGLE = 5.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 15.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 35.0 # 12.25由25--》35
elif (self._is_finish_ratio>0.7 and self._is_small_f):
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if overflow_detected == "大堆料":
TARGET_ANGLE = 5.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 15.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 35.0 # 12.25由25--》35
else:
if self._is_feed_stage==1 or self._is_feed_stage==3:
#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
变频器集成以及增加点动控制(0209)
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if not self.state.mould_vibrate_status:
TARGET_ANGLE = 15.0 # 临时控制变频器堆料时很小
else:
TARGET_ANGLE = 35.0 # 大堆料时控制在15度左右
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elif overflow_detected == "小堆料":
变频器集成以及增加点动控制(0209)
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TARGET_ANGLE = 55.0 # 小堆料时控制在35度左右
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else:
TARGET_ANGLE = 55.0 # 未溢料时开到最大56度
else:
变频器集成以及增加点动控制(0209)
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if self._is_small_f:
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#根据溢料状态动态调整目标角度
变频器集成以及增加点动控制(0209)
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if overflow_detected == "大堆料":
TARGET_ANGLE = 15.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 25.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 45.0 # 未溢料时开到最大56度
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else:
变频器集成以及增加点动控制(0209)
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#根据溢料状态动态调整目标角度
if overflow_detected == "大堆料":
TARGET_ANGLE = 15.0 # 大堆料时控制在15度左右
elif overflow_detected == "小堆料":
TARGET_ANGLE = 55.0 # 小堆料时控制在35度左右
else:
TARGET_ANGLE = 55.0 # 未溢料时开到最大56度
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# 确保目标角度在硬件范围内（5-56度）
TARGET_ANGLE = max(5.0, min(56.0, TARGET_ANGLE))
# PID控制参数
KP = 0.2 # 比例系数
KI = 0 # 积分系数
KD = 0 # 微分系数
# KP = 0.15 # 比例系数
# KI = 0.008 # 积分系数
# KD = 0.08 # 微分系数
# if TARGET_ANGLE <= 25.0:
# KP, KI, KD = 0.18, 0.008, 0.08 # 小角度，强控制
# elif TARGET_ANGLE <= 40.0:
# KP, KI, KD = 0.15, 0.01, 0.06 # 中角度
# else:
# KP, KI, KD = 0.12, 0.012, 0.04 # 大角度，温和控制
# 计算误差
error = current_angle - TARGET_ANGLE
dt = current_time - self._last_control_time
# 积分项（抗饱和）
self._error_integral += error * dt
self._error_integral = max(min(self._error_integral, 50), -50) # 积分限幅
# 微分项
error_derivative = (error - self._last_error) / dt if dt > 0 else 0
# PID输出
pid_output = (KP * error + KI * self._error_integral + KD * error_derivative)
变频器集成以及增加点动控制(0209)
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#print(f"📊 PID计算: 误差={error:.2f}°, 积分={self._error_integral:.2f}, "
# f"微分={error_derivative:.2f}, 输出={pid_output:.2f}")
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# 更新历史值
self._last_error = error
self._last_control_time = current_time
# 状态机 + PID控制
if self.angle_mode == "normal":
self._normal_mode_advanced(current_angle, pid_output,TARGET_ANGLE)
elif self.angle_mode == "reducing":
self._reducing_mode_advanced(current_angle, pid_output, TARGET_ANGLE)
elif self.angle_mode == "maintaining":
self._maintaining_mode_advanced(current_angle, pid_output, TARGET_ANGLE)
except Exception as e:
变频器集成以及增加点动控制(0209)
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print("处理视觉回调时发生异常: ")
print("处理视觉回调时发生异常: ")
print("处理视觉回调时发生异常: ")
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print(f"处理视觉回调时发生异常: {e}")
def _normal_mode_advanced(self, current_angle, pid_output,target_angle):
"""高级正常模式控制"""
if self.overflow:
self.angle_mode = "reducing"
print("检测到溢料，切换到减小模式")
return
# 🎯 修复1: 添加强制控制机制
# 基于PID输出的智能控制
control_threshold = 2 # 从2.0减小到0.5，提高灵敏度
if abs(pid_output) > control_threshold:
if pid_output > 0:
# 需要减小角度（关门）
pulse_time = min(0.3, pid_output * 0.1)
self._pulse_control("close", pulse_time)
print(f"正常模式: 角度偏高{pid_output:.1f}，关门{pulse_time:.2f}秒")
else:
# 需要增大角度（开门）
pulse_time = min(0.3, abs(pid_output) * 0.1)
self._pulse_control("open", pulse_time)
print(f"正常模式: 角度偏低{abs(pid_output):.1f}，开门{pulse_time:.2f}秒")
else:
# 在死区内，保持静止
error = current_angle - target_angle
abs_error = abs(error)
# 强制控制：如果误差超过5度，强制控制
if abs_error > 5:
if error > 0: # 当前角度 > 目标角度，需要关门
pulse_time=0.1 # 根据误差计算脉冲时间
self._pulse_control("close", pulse_time)
变频器集成以及增加点动控制(0209)
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#print(f"🚨 强制关门: 误差{abs_error:.1f}°过大，脉冲{pulse_time:.3f}s")
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else: # 当前角度 < 目标角度，需要开门
pulse_time =0.1
self._pulse_control("open", pulse_time)
变频器集成以及增加点动控制(0209)
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#print(f"🚨 强制开门: 误差{abs_error:.1f}°过大，脉冲{pulse_time:.3f}s")
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return
else:
self._stop_door()
print(f"正常模式: 角度在目标范围内，保持静止")
def _reducing_mode_advanced(self, current_angle, pid_output, target_angle):
"""高级减小模式控制"""
if not self.overflow:
if current_angle <= target_angle + 5.0:
self.angle_mode = "normal"
print("溢料消除且角度合适，返回正常模式")
else:
# 缓慢恢复
self._pulse_control("close", 0.1)
return
# 有溢料，积极减小角度
if current_angle > target_angle:
# 使用PID输出计算控制量
pulse_time = min(0.5, max(0.1, pid_output * 0.15))
self._pulse_control("close", pulse_time)
变频器集成以及增加点动控制(0209)
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# print(f"减小模式: 积极关门{pulse_time:.2f}秒，PID输出:{pid_output:.1f}")
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else:
self.angle_mode = "maintaining"
print("角度已达标，进入维持模式")
def _maintaining_mode_advanced(self, current_angle, pid_output, target_angle):
"""高级维持模式控制"""
if not self.overflow:
self.angle_mode = "normal"
print("溢料消除，返回正常模式")
return
# 精确维持控制
dead_zone = 1.5 # 更小的死区
if abs(pid_output) > dead_zone:
pulse_time = min(0.2, abs(pid_output) * 0.05) # 更精细的控制
if pid_output > 0:
self._pulse_control("close", pulse_time)
print(f"维持模式: 微调关门{pulse_time:.2f}秒")
else:
self._pulse_control("open", pulse_time)
print(f"维持模式: 微调开门{pulse_time:.2f}秒")
else:
self._stop_door()
print("维持模式: 角度精确控制中")
def _pulse_control(self, action, duration):
"""统一的脉冲控制方法"""
# 检查是否正在执行safe_control_lower_close，如果是则跳过relay操作
if self._is_safe_closing:
thread_name = threading.current_thread().name
print(f"[{thread_name}] safe_control_lower_close正在执行，跳过脉冲控制 {action}")
return
if duration <= 0:
return
thread_name = threading.current_thread().name
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#print(f"[{thread_name}] 尝试脉冲控制 {action}，时长 {duration:.2f}秒...")
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with self._door_control_lock:
self._current_controlling_thread = thread_name
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# print(f"[{thread_name}] 获得下料斗控制权，执行脉冲控制")
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if action == "open":
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
time.sleep(duration)
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
print(f"[{thread_name}] 开门脉冲: {duration:.2f}秒")
else: # close
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
time.sleep(duration)
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
print(f"[{thread_name}] 关门脉冲: {duration:.2f}秒")
self._current_controlling_thread = None
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#print(f"[{thread_name}] 释放下料斗控制权")
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def _stop_door(self):
"""停止门运动"""
# 检查是否正在执行safe_control_lower_close，如果是则跳过relay操作
if self._is_safe_closing:
thread_name = threading.current_thread().name
print(f"[{thread_name}] safe_control_lower_close正在执行，跳过停止门运动操作")
return
thread_name = threading.current_thread().name
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#print(f"[{thread_name}] 尝试停止门运动...")
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with self._door_control_lock:
self._current_controlling_thread = thread_name
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#print(f"[{thread_name}] 获得下料斗控制权，执行停止操作")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
self._current_controlling_thread = None
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#print(f"[{thread_name}] 释放下料斗控制权")
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def _open_door(self, duration=0.5):
"""打开门"""
self._pulse_control("open", 0.3)
def _close_door(self, duration=0.5):
"""关闭门"""
self._pulse_control("close", 1)
def on_plc_update(self,data: int, binary: str):
#4即将振捣室5振捣室 64即将搅拌楼 66到达搅拌楼
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# print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
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self.plc_data=data
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if self.plc_data in self.plc_valid_data:
if self.state._upper_door_position!=Upper_Door_Position.ZDS:
self.state._upper_door_position=Upper_Door_Position.ZDS
elif self.plc_data in self.plc_valid_data_jbl:
if self.state._upper_door_position!=Upper_Door_Position.JBL:
self.state._upper_door_position=Upper_Door_Position.JBL
else:
if self.state._upper_door_position!=Upper_Door_Position.Returning:
self.state._upper_door_position=Upper_Door_Position.Returning
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# @classmethod
# def instance_exists(cls):
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"""检测实例是否存在"""
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# return cls._instance is not None
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def shutdown(self):
"""关闭线程，清理资源"""
# 设置停止事件
self._stop_event.set()
# 唤醒线程以便它能检测到停止事件
self._new_data_available.set()
self._is_running=False
self._is_finish=True
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self.is_start_visual=False
# #关闭下料斗
# self.safe_control_lower_close()
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# 等待线程结束
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if self.callback_thread and self.callback_thread.is_alive():
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self.callback_thread.join(timeout=1.0)
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if self.diff_thread and self.diff_thread.is_alive():
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self.diff_thread.join(timeout=1.0)
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def get_current_mould(self):
"""获取当前要浇筑的管片"""
_not_poured=app_web_service.get_not_pour_artifacts()
if _not_poured is not None and len(_not_poured)>=1:
_cur_poured_model=_not_poured[-1]
if _cur_poured_model.MouldCode:
self._cur_mould_model=_cur_poured_model
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self.state.current_mould=_cur_poured_model
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print(f'当前要浇筑的管片 {json.dumps(asdict(_cur_poured_model), ensure_ascii=False)}')
else:
print('当前没有未浇筑的管片')
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def __del__(self):
"""析构函数，确保线程安全关闭"""
self.shutdown()
# 创建默认实例
# visual_callback_instance = VisualCallback()
# 兼容层，保持原来的函数调用方式可用
# def angle_visual_callback(current_angle, overflow_detected):
# """
# 兼容旧版本的函数调用方式
# 将调用转发到默认实例的angle_visual_callback方法
# """
# visual_callback_instance.angle_visual_callback(current_angle, overflow_detected)
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