重构目录结构：调整项目布局

core/__init__.py

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+"""
+核心模块
+包含系统核心控制逻辑和状态管理
+"""
+from .system import FeedingControlSystem
+from .state import SystemState
+
+__all__ = ['FeedingControlSystem', 'SystemState']

core/state.py

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+# core/state.py
+class SystemState:
+    def __init__(self):
+        # 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.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
+
+        # 重量相关
+        self.last_upper_weight = 0
+        self.last_lower_weight = 0
+        self.last_weight_time = 0
+
+        # 错误计数
+        self.upper_weight_error_count = 0
+        self.lower_weight_error_count = 0
+
+        # 视觉系统状态
+        self.angle_control_mode = "normal"  # 角度控制模式: normal, reducing, maintaining, recovery
+        self.overflow_detected = False  # 堆料检测
+        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

core/system.py

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+# core/system.py
+import threading
+import time
+import cv2
+from config.settings import Settings
+from core.state import SystemState
+from hardware.relay import RelayController
+from hardware.inverter import InverterController
+from hardware.transmitter import TransmitterController
+from vision.camera import CameraController
+from vision.detector import VisionDetector
+from feeding.controller import FeedingController
+
+
+class FeedingControlSystem:
+    def __init__(self, settings: Settings):
+        self.settings = settings
+        self.state = SystemState()
+
+        # 初始化硬件控制器
+        self.relay_controller = RelayController(
+            host=settings.relay_host,
+            port=settings.relay_port
+        )
+
+        self.inverter_controller = InverterController(self.relay_controller)
+        self.transmitter_controller = TransmitterController(self.relay_controller)
+
+        # 初始化视觉系统
+        self.camera_controller = CameraController()
+        self.vision_detector = VisionDetector(settings)
+
+        # 初始化下料控制器
+        self.feeding_controller = FeedingController(
+            self.relay_controller,
+            self.inverter_controller,
+            self.transmitter_controller,
+            self.vision_detector,
+            self.camera_controller,
+            self.state,
+            settings
+        )
+
+        # 线程管理
+        self.monitor_thread = None
+        self.visual_control_thread = None
+        self.alignment_check_thread = None
+
+    def initialize(self):
+        """初始化系统"""
+        print("初始化控制系统...")
+
+        # 设置摄像头配置
+        self.camera_controller.set_config(
+            camera_type=self.settings.camera_type,
+            ip=self.settings.camera_ip,
+            port=self.settings.camera_port,
+            username=self.settings.camera_username,
+            password=self.settings.camera_password,
+            channel=self.settings.camera_channel
+        )
+
+        # 初始化摄像头
+        if not self.camera_controller.setup_capture():
+            raise Exception("摄像头初始化失败")
+
+        # 加载视觉模型
+        if not self.vision_detector.load_models():
+            raise Exception("视觉模型加载失败")
+
+        # 启动系统监控
+        self.start_monitoring()
+
+        # 启动视觉控制
+        self.start_visual_control()
+
+        # 启动对齐检查
+        self.start_alignment_check()
+
+        print("控制系统初始化完成")
+
+    def start_monitoring(self):
+        """启动系统监控"""
+        self.state.running = True
+        self.monitor_thread = threading.Thread(
+            target=self._monitor_loop,
+            daemon=True
+        )
+        self.monitor_thread.start()
+
+    def _monitor_loop(self):
+        """监控循环"""
+        while self.state.running:
+            try:
+                self.feeding_controller.check_upper_material_request()
+                self.feeding_controller.check_arch_blocking()
+                time.sleep(1)
+            except Exception as e:
+                print(f"监控线程错误: {e}")
+
+    def start_visual_control(self):
+        """启动视觉控制"""
+        self.visual_control_thread = threading.Thread(
+            target=self._visual_control_loop,
+            daemon=True
+        )
+        self.visual_control_thread.start()
+
+    def _visual_control_loop(self):
+        """视觉控制循环"""
+        while self.state.running:
+            try:
+                current_frame = self.camera_controller.capture_frame()
+                if current_frame is not None:
+                    # 执行视觉控制逻辑
+                    self.feeding_controller.visual_control(current_frame)
+                time.sleep(self.settings.visual_check_interval)
+            except Exception as e:
+                print(f"视觉控制循环错误: {e}")
+                time.sleep(self.settings.visual_check_interval)
+
+    def start_alignment_check(self):
+        """启动对齐检查"""
+        self.alignment_check_thread = threading.Thread(
+            target=self._alignment_check_loop,
+            daemon=True
+        )
+        self.alignment_check_thread.start()
+
+    def _alignment_check_loop(self):
+        """对齐检查循环"""
+        while self.state.running:
+            try:
+                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)
+                        if self.state.vehicle_aligned:
+                            print("检测到模具车对齐")
+                        else:
+                            print("模具车未对齐")
+                time.sleep(self.settings.alignment_check_interval)
+            except Exception as e:
+                print(f"对齐检查循环错误: {e}")
+                time.sleep(self.settings.alignment_check_interval)
+
+    def start_lower_feeding(self):
+        """启动下料流程"""
+        self.feeding_controller.start_feeding()
+
+    def stop(self):
+        """停止系统"""
+        print("停止控制系统...")
+        self.state.running = False
+
+        # 等待线程结束
+        if self.monitor_thread:
+            self.monitor_thread.join()
+        if self.visual_control_thread:
+            self.visual_control_thread.join()
+        if self.alignment_check_thread:
+            self.alignment_check_thread.join()
+
+        # 释放摄像头资源
+        self.camera_controller.release()
+        print("控制系统已停止")