dd

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()