dd

core/state.py

@@ -1,12 +1,18 @@
-# core/state.py
-class SystemState:
+from PySide6.QtCore import Signal, QObject
+import threading
+from enum import IntEnum
+
+class SystemState(QObject):
+    """状态中以_开头的属性会发送信号通知,不需要的不要加_开头"""
+    state_updated=Signal(str,object)
     def __init__(self):
+        super().__init__()
         # 系统运行状态
         self.running = False
 
         # 下料控制相关
-        self.upper_door_position = 'default'  # default(在搅拌楼下接料), over_lower(在下料斗上方), returning(返回中)
-        self.lower_feeding_stage = 0  # 0:未下料, 1:第一阶段, 2:第二阶段, 3:第三阶段, 4:等待模具车对齐
+        self._upper_door_position = 'default'  # default(在搅拌楼下接料), over_lower(在下料斗上方), returning(返回中)
+        self._lower_feeding_stage = 0  # 0:未下料, 1:第一阶段, 2:第二阶段, 3:第三阶段, 4:等待模具车对齐
         self.lower_feeding_cycle = 0  # 下料斗下料循环次数
         self.upper_feeding_count = 0  # 上料斗已下料次数
         self.upper_feeding_max = 2 #上料斗最大下料次数
@@ -26,3 +32,46 @@ class SystemState:
         self.door_opening_large = False  # 夹角
         self.vehicle_aligned = False  # 模具车是否对齐
         self.last_angle = None  # 上次检测角度
+
+        #当前RFID的内容格式为 模块编号，分块号，尺寸规格，方量
+        self.rfid_current=None
+
+        #当前生产的管片
+        self.current_artifact=None
+        #当前生产状态
+        self.feed_status=FeedStatus.FNone
+
+        # 记录需要监听的属性名（筛选掉不需要发信号的内部变量）
+        #是否破拱
+        self._upper_is_arch_=False
+        self._lower_is_arch_=False
+        self.lock = threading.RLock()
+        self._watched_props = [k for k in self.__dict__ if k.startswith('_')]
+    
+    def __setattr__(self, name, value):
+        super().__setattr__(name, value)
+        if name in self._watched_props:
+            with self.lock:
+                public_name = name.lstrip('_')
+                self.state_updated.emit(public_name, value)
+
+
+class FeedStatus(IntEnum):
+    #初始值
+    FNone = 0
+    # 检查模车（模车到位）
+    FCheckM = 1
+    #RFID检测或匹配
+    FRFID=2,
+    # 开始（管片待生产任务）
+    FStart = 3
+    # 检查盖板（盖板到位）
+    FCheckGB = 4
+    #下料1
+    FFeed1 = 5
+    # 下料2
+    FFeed2 = 6
+    # 下料3
+    FFeed3 = 7
+    #完成（管片生产完成）
+    FFinished = 11

core/system.py

@@ -7,6 +7,7 @@ from core.state import SystemState
 from hardware.relay import RelayController
 from hardware.inverter import InverterController
 from hardware.transmitter import TransmitterController
+from hardware.RFID.rfid_service import rfid_service
 from vision.camera import CameraController
 from vision.detector import VisionDetector
 from feeding.controller import FeedingController
@@ -37,14 +38,22 @@ class FeedingControlSystem:
             self.transmitter_controller,
             self.vision_detector,
             self.camera_controller,
+            self.rfid_controller,
             self.state,
             settings
         )
 
+        # 初始化RFID控制器
+        self.rfid_controller = rfid_service(
+            host=settings.rfid_host,
+            port=settings.rfid_port
+        )
+
         # 线程管理
         self.monitor_thread = None
         self.visual_control_thread = None
         self.alignment_check_thread = None
+        self.lower_feeding_thread = None
 
     def initialize(self):
         """初始化系统"""
@@ -68,6 +77,9 @@ class FeedingControlSystem:
         if not self.vision_detector.load_models():
             raise Exception("视觉模型加载失败")
 
+        if not self.check_device_connectivity():
+            raise Exception("设备连接失败")
+
         # 启动系统监控
         self.start_monitoring()
 
@@ -77,6 +89,10 @@ class FeedingControlSystem:
         # 启动对齐检查
         self.start_alignment_check()
 
+        # 启动下料轮询线程
+        self.start_lower_feeding()
+
+
         print("控制系统初始化完成")
 
     def start_monitoring(self):
@@ -131,7 +147,7 @@ class FeedingControlSystem:
         """对齐检查循环"""
         while self.state.running:
             try:
-                if self.state.lower_feeding_stage == 4:  # 等待对齐阶段
+                if self.state._lower_feeding_stage == 4:  # 等待对齐阶段
                     current_frame = self.camera_controller.capture_frame()
                     if current_frame is not None:
                         self.state.vehicle_aligned = self.vision_detector.detect_vehicle_alignment(current_frame)
@@ -146,7 +162,54 @@ class FeedingControlSystem:
 
     def start_lower_feeding(self):
         """启动下料流程"""
-        self.feeding_controller.start_feeding()
+        self.lower_feeding_thread = threading.Thread(
+                target=self._start_lower_feeding,
+                daemon=True
+            )
+        self.lower_feeding_thread.start()
+
+    def _start_lower_feeding(self):
+        """启动下料流程"""
+        while self.state.running:
+            self.feeding_controller.start_feeding()
+            time.sleep(self.settings.lower_feeding_interval)
+
+    def check_device_connectivity(self) -> bool:
+        """检查关键设备连接状态"""
+        try:
+            # 检查网络继电器连接
+            test_response = self.relay_controller.send_command(self.relay_controller.read_status_command)
+            if not test_response:
+                print("网络继电器连接失败")
+                return False
+
+            # 检查变频器连接
+            if not self.relay_controller.modbus_client.connect():
+                print("无法连接到网络继电器Modbus服务")
+                return False
+
+            # 尝试读取变频器一个寄存器（测试连接）
+            test_result = self.relay_controller.modbus_client.read_holding_registers(
+                address=0x00,
+                count=1,
+                slave=self.inverter_controller.config['slave_id']
+            )
+
+            if isinstance(test_result, Exception):
+                print("变频器连接测试失败")
+                return False
+
+            # 检查下料斗变送器连接
+            test_weight = self.transmitter_controller.read_data(2)
+            if test_weight is None:
+                print("下料斗变送器连接失败")
+                return False
+
+            self.relay_controller.modbus_client.close()
+            return True
+        except Exception as e:
+            print(f"设备连接检查失败: {e}")
+            return False
 
     def stop(self):
         """停止系统"""
@@ -160,6 +223,8 @@ class FeedingControlSystem:
             self.visual_control_thread.join()
         if self.alignment_check_thread:
             self.alignment_check_thread.join()
+        if self.lower_feeding_thread:
+            self.lower_feeding_thread.join()
 
         # 释放摄像头资源
         self.camera_controller.release()