xiongyi/Feeding_control_system
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

完成中交三航控制系统

Browse Source
This commit is contained in:
cdeyw
2025-09-26 11:50:42 +08:00
parent 2e779ea8e1
commit 486645a3aa
31 changed files with 32 additions and 1685 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
Fedding.py
View File

@ -12,8 +12,8 @@ import sys
sys.path.append(os.path.join(os.path.dirname(__file__), 'src', 'vision'))
# 导入视觉处理模块
from src.vision.anger_caculate import predict_obb_best_angle
from src.vision.resize_tuili_image_main import classify_image_weighted, load_global_rois, crop_and_resize, YOLO
from vision.anger_caculate import predict_obb_best_angle
from vision.resize_tuili_image_main import classify_image_weighted, load_global_rois, crop_and_resize, YOLO
class FeedingControlSystem:
@ -124,10 +124,10 @@ class FeedingControlSystem:
self.alignment_check_interval = 0.5 # 对齐检查间隔(秒)
# 模型路径配置
self.angle_model_path = "src/vision/angle.pt"
self.overflow_model_path = "src/vision/overflow.pt"
self.alignment_model_path = "src/vision/alig.pt" # 模具车对齐检测模型
self.roi_file_path = "src/vision/roi_coordinates/1_rois.txt"
self.angle_model_path = "vision/models/angle.pt"
self.overflow_model_path = "vision/models/overflow.pt"
self.alignment_model_path = "vision/models/alig.pt" # 模具车对齐检测模型
self.roi_file_path = "vision/roi_coordinates/1_rois.txt"
# 模型实例
self.angle_model = None # 夹角检测模型实例
@ -147,7 +147,6 @@ class FeedingControlSystem:
def set_camera_config(self, camera_type="ip", ip=None, port=None, username=None, password=None, channel=1):
"""
设置摄像头配置
:param camera_type: 摄像头类型 "usb" 或 "ip"
:param ip: 网络摄像头IP地址
:param port: 网络摄像头端口
:param username: 网络摄像头用户名

48
config/config.yaml
View File

@ -1,48 +0,0 @@
# 网络配置
network:
relay:
# 网络继电器（所有485设备通过此接口转发）
host: "192.168.0.18"
port: 50000
# Modbus设备配置（通过网络继电器访问的RTU设备）
modbus_devices:
inverter:
# 变频器
slave_id: 1
address: 1 # 设备地址（用于网络继电器转发识别）
transmitters:
upper:
# 上料斗变送器
slave_id: 2
address: 2
weight_register: 1
register_count: 2
lower:
# 下料斗变送器
slave_id: 3
address: 3
weight_register: 1
register_count: 2
# 系统参数
parameters:
min_required_weight: 50
max_error_count: 3
monitoring_interval: 1
timeout: 30
# 下料参数,频率
feeding:
stage1_frequency: 30.0
stage2_frequency: 40.0
stage3_frequency: 50.0
target_weight_per_stage: 33.3
# 继电器DO端口映射
relay:
door_upper: 0 # DO0 - 上料斗滑动门
door_lower_1: 1 # DO1 - 出砼门控制1
door_lower_2: 2 # DO2 - 出砼门控制2
break_arch_upper: 3 # DO3 - 上料斗破拱
break_arch_lower: 4 # DO4 - 下料斗破拱

26
logs/app.log
View File

@ -0,0 +1,26 @@
2025-09-20 15:47:36,993 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:47:37,011 - FeedingControl.MainSystem - INFO - ι<><CEB9>ϵͳ<CFB5><CDB3>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:47:37,011 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:47:37,011 - FeedingControl.MainSystem - ERROR - ϵͳ<CFB5><CDB3><EFBFBD>д<EFBFBD><D0B4><EFBFBD>: 'FeedingController' object has no attribute 'start'
2025-09-20 15:47:37,011 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:47:37,012 - FeedingControl - ERROR - ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: 'FeedingController' object has no attribute 'stop'
2025-09-20 15:53:09,420 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:53:09,420 - FeedingControl.MainSystem - INFO - ι<><CEB9>ϵͳ<CFB5><CDB3>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:53:09,420 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:53:09,429 - FeedingControl.MainSystem - ERROR - ϵͳ<CFB5><CDB3><EFBFBD>д<EFBFBD><D0B4><EFBFBD>: 'FeedingController' object has no attribute 'start'
2025-09-20 15:53:09,429 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:53:09,429 - FeedingControl - ERROR - ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: 'FeedingController' object has no attribute 'stop'
2025-09-20 15:53:49,321 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:53:49,322 - FeedingControl.MainSystem - INFO - ι<><CEB9>ϵͳ<CFB5><CDB3>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:53:49,322 - FeedingControl.MainSystem - WARNING - ϵͳδ<CDB3><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 15:53:49,322 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:53:49,322 - FeedingControl.MainSystem - ERROR - ϵͳ<CFB5><CDB3><EFBFBD>д<EFBFBD><D0B4><EFBFBD>: 'FeedingController' object has no attribute 'start'
2025-09-20 15:53:49,322 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-20 15:53:49,322 - FeedingControl - ERROR - ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: 'FeedingController' object has no attribute 'stop'
2025-09-20 16:00:19,400 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 16:00:19,400 - FeedingControl.MainSystem - INFO - ι<><CEB9>ϵͳ<CFB5><CDB3>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 16:00:19,400 - FeedingControl.MainSystem - WARNING - ϵͳδ<CDB3><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-20 16:00:19,400 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-20 16:00:19,400 - FeedingControl.MainSystem - ERROR - ϵͳ<CFB5><CDB3><EFBFBD>д<EFBFBD><D0B4><EFBFBD>: 'FeedingController' object has no attribute 'start'
2025-09-20 16:00:19,400 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-20 16:00:19,400 - FeedingControl - ERROR - ϵͳ<CFB5><CDB3><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: 'FeedingController' object has no attribute 'stop'

0
setup.py
View File

5
src/__init__.py
View File

@ -1,5 +0,0 @@
from .control import feeding_controller,state_machine
from .divices import inverter,relay,transmitter
from .utils import config,logger
__all__ = ['FeedingController', 'FeedingStateMachine', 'FeedingState']

4
src/control/__init__.py
View File

@ -1,4 +0,0 @@
from .feeding_controller import FeedingController
from .state_machine import FeedingStateMachine, FeedingState
__all__ = ['FeedingController', 'FeedingStateMachine', 'FeedingState']

327
src/control/feeding_controller.py
View File

@ -1,327 +0,0 @@
import time
from src.utils.config import config
from src.utils.logger import app_logger
from src.divices.relay import RelayController
from src.divices.inverter import InverterController
from src.divices.transmitter import TransmitterController
from .state_machine import FeedingStateMachine, FeedingState
class FeedingController:
"""下料控制器"""
def __init__(self):
self.logger = app_logger.getChild('FeedingController')
self.state_machine = FeedingStateMachine()
# 初始化设备
self._initialize_devices()
# 系统参数
self.min_required_weight = config.get('parameters.min_required_weight', 50)
self.max_error_count = config.get('parameters.max_error_count', 3)
self.timeout = config.get('parameters.timeout', 30)
# 下料参数
self.stage_frequencies = {
1: config.get('feeding.stage1_frequency', 30.0),#三阶段的频率
2: config.get('feeding.stage2_frequency', 40.0),
3: config.get('feeding.stage3_frequency', 50.0)
}
self.target_weight_per_stage = config.get('feeding.target_weight_per_stage', 33.3)
# 状态
self.error_count = 0
self.last_upper_weight = 0
self.last_lower_weight = 0
self.last_weight_time = time.time()
def _initialize_devices(self):
"""初始化设备"""
try:
# 网络继电器
relay_config = config.get('network.relay')
self.relay = RelayController(
relay_config['host'],
relay_config['port']
)
# 设置继电器设备映射
relay_mapping = config.get('relay')
self.relay.set_device_mapping(relay_mapping)
# 变频器 - 修改为使用新的配置结构
inverter_config = config.get('modbus_devices.inverter')
self.inverter = InverterController(
relay_config['host'], # 使用网络继电器的host
relay_config['port'], # 使用网络继电器的port
inverter_config['slave_id'],
inverter_config['address'] # 添加设备地址参数
)
# 变送器 - 修改为使用新的配置结构
transmitters_config = config.get('modbus_devices.transmitters')
self.upper_transmitter = TransmitterController(
'upper',
relay_config['host'], # 使用网络继电器的host
relay_config['port'], # 使用网络继电器的port
transmitters_config['upper']['slave_id'],
transmitters_config['upper']['address'] # 添加设备地址参数
)
self.upper_transmitter.set_config(
transmitters_config['upper']['weight_register'],
transmitters_config['upper']['register_count']
)
self.lower_transmitter = TransmitterController(
'lower',
relay_config['host'], # 使用网络继电器的host
relay_config['port'], # 使用网络继电器的port
transmitters_config['lower']['slave_id'],
transmitters_config['lower']['address'] # 添加设备地址参数
)
self.lower_transmitter.set_config(
transmitters_config['lower']['weight_register'],
transmitters_config['lower']['register_count']
)
self.logger.info("设备初始化完成")
except Exception as e:
self.logger.error(f"设备初始化失败: {e}")
raise
def check_material_request(self):
"""检查是否需要向上料斗要料"""
current_weight = self.upper_transmitter.read_weight()
# 如果读取失败，增加错误计数
if current_weight is None:
self.error_count += 1
self.logger.warning(f"上料斗重量读取失败，错误计数: {self.error_count}")
# 如果连续错误次数超过阈值，触发报警
if self.error_count >= self.max_error_count:
self.logger.error("警告：上料斗重量传感器连续读取失败，请检查设备连接")
return False # 读取失败时不触发要料
# 重置错误计数
self.error_count = 0
if current_weight < self.min_required_weight:
self.logger.info("上料斗重量不足，通知搅拌楼要料")#通知搅拌楼要料，调用彭琪的接口
#一个通讯的函数，内容包括（要料数据）
self.move_upper_door_to_mixer()
return True
return False
def move_upper_door_to_mixer(self):
"""移动上料斗到搅拌楼出砼口"""
self.logger.info("移动上料斗到搅拌楼出砼口")
self.relay.control('door_upper', 'open')
def return_upper_door(self):
"""返回上料斗"""
self.logger.info("上料斗返回原位")
self.relay.control('door_upper', 'close')
def start_feeding(self):
"""开始下料过程"""
if self.state_machine.get_state() != FeedingState.IDLE:
self.logger.warning("下料已在进行中")
return False
self.logger.info("开始三阶段下料过程")
self.state_machine.set_state(FeedingState.STAGE_ONE)
return True
def execute_stage_one(self):
"""执行第一阶段下料"""
self.logger.info("开始第一阶段下料 (1/3)")
# 设置变频器频率
frequency = self.stage_frequencies[1]
if not self.inverter.set_frequency(frequency):
self.logger.error("设置变频器频率失败")
self.finish_feeding()
return
# 启动变频器
if not self.inverter.control('start'):
self.logger.error("启动变频器失败")
self.finish_feeding()
return
# 控制出砼门
self.relay.control('door_lower_1', 'open')
self.relay.control('door_lower_2', 'open')
# 监控下料过程
start_time = time.time()
initial_weight = self.lower_transmitter.read_weight()
# 如果初始重量读取失败，取消操作
if initial_weight is None:
self.logger.error("无法获取初始重量，取消下料操作")
self.finish_feeding()
return
target_weight = initial_weight + self.target_weight_per_stage
while self.state_machine.get_state() == FeedingState.STAGE_ONE:
current_weight = self.lower_transmitter.read_weight()
# 检查重量读取是否成功
if current_weight is None:
self.error_count += 1
if self.error_count >= self.max_error_count:
self.logger.error("下料斗重量传感器连续读取失败，停止下料")
self.finish_feeding()
return
else:
self.error_count = 0 # 重置错误计数
# 检查是否达到目标重量或超时
if (current_weight is not None and current_weight >= target_weight) or \
(time.time() - start_time) > self.timeout:
self.state_machine.set_state(FeedingState.STAGE_TWO)
break
time.sleep(2) # 每2秒读取一次
def execute_stage_two(self):
"""执行第二阶段下料"""
self.logger.info("开始第二阶段下料 (2/3)")
# 调整变频器频率
frequency = self.stage_frequencies[2]
if not self.inverter.set_frequency(frequency):
self.logger.error("设置变频器频率失败")
self.finish_feeding()
return
start_time = time.time()
initial_weight = self.lower_transmitter.read_weight()
if initial_weight is None:
self.logger.error("无法获取初始重量，取消下料操作")
self.finish_feeding()
return
target_weight = initial_weight + self.target_weight_per_stage
while self.state_machine.get_state() == FeedingState.STAGE_TWO:
current_weight = self.lower_transmitter.read_weight()
if current_weight is None:
self.error_count += 1
if self.error_count >= self.max_error_count:
self.logger.error("下料斗重量传感器连续读取失败，停止下料")
self.finish_feeding()
return
else:
self.error_count = 0
if (current_weight is not None and current_weight >= target_weight) or \
(time.time() - start_time) > self.timeout:
self.state_machine.set_state(FeedingState.STAGE_THREE)
break
time.sleep(2) # 每2秒读取一次
def execute_stage_three(self):
"""执行第三阶段下料"""
self.logger.info("开始第三阶段下料 (3/3)")
# 调整变频器频率
frequency = self.stage_frequencies[3]
if not self.inverter.set_frequency(frequency):
self.logger.error("设置变频器频率失败")
self.finish_feeding()
return
start_time = time.time()
initial_weight = self.lower_transmitter.read_weight()
if initial_weight is None:
self.logger.error("无法获取初始重量，取消下料操作")
self.finish_feeding()
return
target_weight = initial_weight + self.target_weight_per_stage
while self.state_machine.get_state() == FeedingState.STAGE_THREE:
current_weight = self.lower_transmitter.read_weight()
if current_weight is None:
self.error_count += 1
if self.error_count >= self.max_error_count:
self.logger.error("下料斗重量传感器连续读取失败，停止下料")
self.finish_feeding()
return
else:
self.error_count = 0
if (current_weight is not None and current_weight >= target_weight) or \
(time.time() - start_time) > self.timeout:
self.state_machine.set_state(FeedingState.COMPLETED)
break
time.sleep(2) # 每2秒读取一次
def finish_feeding(self):
"""完成下料"""
self.logger.info("下料完成，关闭出砼门")
self.inverter.control('stop')
self.relay.control('door_lower_1', 'close')
self.relay.control('door_lower_2', 'close')
self.state_machine.set_state(FeedingState.IDLE)
self.error_count = 0
def check_arch_blocking(self):
"""检查是否需要破拱"""
current_time = time.time()
# 检查上料斗
upper_weight = self.upper_transmitter.read_weight()
if upper_weight is not None:
if (abs(upper_weight - self.last_upper_weight) < 0.1) and \
(current_time - self.last_weight_time) > 10:
self.logger.info("上料斗可能堵塞，启动破拱")
self.relay.control('break_arch_upper', 'open')
time.sleep(2)
self.relay.control('break_arch_upper', 'close')
# 检查下料斗
lower_weight = self.lower_transmitter.read_weight()
if lower_weight is not None:
if (abs(lower_weight - self.last_lower_weight) < 0.1) and \
(current_time - self.last_weight_time) > 10:
self.logger.info("下料斗可能堵塞，启动破拱")
self.relay.control('break_arch_lower', 'open')
time.sleep(2)
self.relay.control('break_arch_lower', 'close')
# 更新重量记录
if upper_weight is not None:
self.last_upper_weight = upper_weight
if lower_weight is not None:
self.last_lower_weight = lower_weight
if upper_weight is not None or lower_weight is not None:
self.last_weight_time = current_time
def run_cycle(self):
"""运行一个控制周期"""
try:
# 检查是否需要要料
self.check_material_request()
# 检查破拱
self.check_arch_blocking()
# 执行状态机
self.state_machine.transition(self)
return True
except Exception as e:
self.logger.error(f"控制周期执行错误: {e}")
return False

105
src/control/state_machine.py
View File

@ -1,105 +0,0 @@
from abc import ABC, abstractmethod
from enum import Enum
from src.utils.logger import app_logger
class FeedingState(Enum):
"""下料状态枚举"""
IDLE = 0
STAGE_ONE = 1
STAGE_TWO = 2
STAGE_THREE = 3
COMPLETED = 4
class State(ABC):
"""状态基类"""
def __init__(self):
self.logger = app_logger.getChild('StateMachine')
@abstractmethod
def handle(self, context):
"""处理状态逻辑"""
pass
class IdleState(State):
"""空闲状态"""
def handle(self, context):
self.logger.info("系统处于空闲状态")
# 等待开始下料命令
return FeedingState.IDLE
class StageOneState(State):
"""第一阶段下料状态"""
def handle(self, context):
self.logger.info("执行第一阶段下料")
# 第一阶段下料逻辑
context.execute_stage_one()
return FeedingState.STAGE_TWO
class StageTwoState(State):
"""第二阶段下料状态"""
def handle(self, context):
self.logger.info("执行第二阶段下料")
# 第二阶段下料逻辑
context.execute_stage_two()
return FeedingState.STAGE_THREE
class StageThreeState(State):
"""第三阶段下料状态"""
def handle(self, context):
self.logger.info("执行第三阶段下料")
# 第三阶段下料逻辑
context.execute_stage_three()
return FeedingState.COMPLETED
class CompletedState(State):
"""完成状态"""
def handle(self, context):
self.logger.info("下料完成")
# 完成逻辑
context.finish_feeding()
return FeedingState.IDLE
class FeedingStateMachine:
"""下料状态机"""
def __init__(self):
self.states = {
FeedingState.IDLE: IdleState(),
FeedingState.STAGE_ONE: StageOneState(),
FeedingState.STAGE_TWO: StageTwoState(),
FeedingState.STAGE_THREE: StageThreeState(),
FeedingState.COMPLETED: CompletedState()
}
self.current_state = FeedingState.IDLE
self.logger = app_logger.getChild('FeedingStateMachine')
def transition(self, context):
"""状态转换"""
if self.current_state in self.states:
next_state = self.states[self.current_state].handle(context)
if next_state != self.current_state:
self.logger.info(f"状态从 {self.current_state} 转换到 {next_state}")
self.current_state = next_state
def set_state(self, state: FeedingState):
"""设置当前状态"""
self.logger.info(f"手动设置状态为 {state}")
self.current_state = state
def get_state(self):
"""获取当前状态"""
return self.current_state

5
src/divices/__init__.py
View File

@ -1,5 +0,0 @@
from .relay import RelayController
from .inverter import InverterController
from .transmitter import TransmitterController
__all__ = ['RelayController', 'InverterController', 'TransmitterController']

102
src/divices/inverter.py
View File

@ -1,102 +0,0 @@
from pymodbus.client import ModbusTcpClient
from pymodbus.exceptions import ModbusException
from src.utils.logger import app_logger
class InverterController:
"""变频器控制器"""
def __init__(self, relay_host: str, relay_port: int, slave_id: int = 1, device_address: int = 1):
self.relay_host = relay_host
self.relay_port = relay_port
self.slave_id = slave_id
self.device_address = device_address # 设备地址，用于网络继电器转发识别
self.client = None
self.logger = app_logger.getChild('InverterController')
# 变频器寄存器地址
self.registers = {
'frequency': 0x01, # 频率设置寄存器
'start': 0x00, # 启动命令寄存器
'stop': 0x01 # 停止命令寄存器
}
def connect(self):
"""连接变频器"""
try:
self.client = ModbusTcpClient(self.relay_host, port=self.relay_port)
connection_result = self.client.connect()
# 这里可能需要添加设备地址的处理逻辑，具体取决于网络继电器的协议
# 例如，可能需要发送一个初始化命令告诉继电器要与哪个设备通信
return connection_result
except Exception as e:
self.logger.error(f"连接变频器失败: {e}")
return False
def disconnect(self):
"""断开变频器连接"""
if self.client:
try:
self.client.close()
except Exception as e:
self.logger.error(f"断开变频器连接失败: {e}")
def set_frequency(self, frequency: float):
"""设置变频器频率"""
if not self.client:
if not self.connect():
return False
try:
# 写入频率值 (假设频率值需要转换为Hz*10)
result = self.client.write_register(
self.registers['frequency'],
int(frequency * 10),
slave=self.slave_id
)
if isinstance(result, Exception):
self.logger.error(f"设置变频器频率失败: {result}")
return False
self.logger.info(f"设置变频器频率为 {frequency}Hz")
return True
except ModbusException as e:
self.logger.error(f"变频器Modbus通信错误: {e}")
return False
def control(self, action: str):
"""控制变频器启停"""
if not self.client:
if not self.connect():
return False
try:
if action == 'start':
result = self.client.write_register(
self.registers['start'],
1,
slave=self.slave_id
)
self.logger.info("启动变频器")
elif action == 'stop':
result = self.client.write_register(
self.registers['stop'],
1,
slave=self.slave_id
)
self.logger.info("停止变频器")
else:
self.logger.error(f"无效的变频器操作: {action}")
return False
if isinstance(result, Exception):
self.logger.error(f"控制变频器失败: {result}")
return False
return True
except ModbusException as e:
self.logger.error(f"变频器控制错误: {e}")
return False

85
src/divices/relay.py
View File

@ -1,85 +0,0 @@
import socket
import binascii
import time
from src.utils.logger import app_logger
class RelayController:
"""网络继电器控制器"""
def __init__(self, host: str, port: int):
self.host = host
self.port = port
self.logger = app_logger.getChild('RelayController')
# 设备DO端口映射 (将在初始化时从配置加载)
self.device_mapping = {}
# 继电器控制命令
self.relay_commands = {
0: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
1: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
2: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
3: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
4: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}
}
# 读取状态命令
self.read_status_command = '000000000006010100000008'
def set_device_mapping(self, mapping: dict):
"""设置设备映射"""
self.device_mapping = mapping
def send_command(self, command_hex: str):
"""发送命令到网络继电器"""
try:
byte_data = binascii.unhexlify(command_hex)
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
sock.settimeout(5) # 设置超时
sock.connect((self.host, self.port))
sock.send(byte_data)
response = sock.recv(1024)
self.logger.debug(f"收到继电器响应: {binascii.hexlify(response)}")
return response
except Exception as e:
self.logger.error(f"继电器通信错误: {e}")
return None
def get_status(self):
"""获取继电器状态"""
response = self.send_command(self.read_status_command)
status_dict = {}
if response and len(response) >= 10:
status_byte = response[9]
status_bin = f"{status_byte:08b}"[::-1]
# 根据设备映射返回状态
for device_name, bit_index in self.device_mapping.items():
status_dict[device_name] = status_bin[bit_index] == '1'
else:
self.logger.warning("读取继电器状态失败或响应无效")
return status_dict
def control(self, device_name: str, action: str):
"""控制继电器开关"""
if device_name not in self.device_mapping:
self.logger.error(f"无效的继电器设备: {device_name}")
return False
bit_index = self.device_mapping[device_name]
if bit_index not in self.relay_commands:
self.logger.error(f"不支持的DO端口: {bit_index}")
return False
if action not in self.relay_commands[bit_index]:
self.logger.error(f"无效的继电器动作: {action}")
return False
self.logger.info(f"控制继电器 {device_name} ({bit_index}) {action}")
result = self.send_command(self.relay_commands[bit_index][action])
time.sleep(0.1) # 短暂延迟确保命令执行
return result is not None

90
src/divices/transmitter.py
View File

@ -1,90 +0,0 @@
from pymodbus.client import ModbusTcpClient
from pymodbus.exceptions import ModbusException
import struct
from src.utils.logger import app_logger
class TransmitterController:
"""重量变送器控制器"""
def __init__(self, name: str, relay_host: str, relay_port: int, slave_id: int = 1, device_address: int = 1):
self.name = name
self.relay_host = relay_host
self.relay_port = relay_port
self.slave_id = slave_id
self.device_address = device_address # 设备地址，用于网络继电器转发识别
self.client = None
self.logger = app_logger.getChild(f'TransmitterController.{name}')
# 默认配置
self.weight_register = 0
self.register_count = 2
def connect(self):
"""连接变送器"""
try:
self.client = ModbusTcpClient(self.relay_host, port=self.relay_port)
connection_result = self.client.connect()
# 这里可能需要添加设备地址的处理逻辑，具体取决于网络继电器的协议
return connection_result
except Exception as e:
self.logger.error(f"连接变送器 {self.name} 失败: {e}")
return False
def disconnect(self):
"""断开变送器连接"""
if self.client:
try:
self.client.close()
except Exception as e:
self.logger.error(f"断开变送器 {self.name} 连接失败: {e}")
def read_weight(self):
"""读取重量数据"""
if not self.client:
if not self.connect():
return None
try:
# 读取保持寄存器
result = self.client.read_holding_registers(
address=self.weight_register,
count=self.register_count,
slave=self.slave_id
)
if isinstance(result, Exception):
self.logger.error(f"读取变送器 {self.name} 数据失败: {result}")
return None
# 解析重量数据
if self.register_count == 2:
# 根据协议，重量数据从第三个寄存器开始，需要4个字节
# 组合两个寄存器为32位整数 (大端序)
# 按照协议描述，应该是4个字节的数据: [reg0_high, reg0_low, reg1_high, reg1_low]
weight_bytes = struct.pack('>HH', result.registers[0], result.registers[1])
# 按照协议，从第4个字节开始是重量数据，即前4个字节就是重量数据
weight = struct.unpack('>I', weight_bytes)[0] # 使用大端序无符号整数解析
elif self.register_count == 1:
# 单个寄存器直接作为整数
weight = float(result.registers[0])
else:
self.logger.error(f"不支持的寄存器数量: {self.register_count}")
return None
self.logger.debug(f"变送器 {self.name} 读取重量: {weight}kg")
return float(weight)
except ModbusException as e:
self.logger.error(f"变送器 {self.name} Modbus通信错误: {e}")
return None
except Exception as e:
self.logger.error(f"变送器 {self.name} 数据解析错误: {e}")
return None
def set_config(self, weight_register, register_count):
"""设置重量读取相关的寄存器配置"""
self.weight_register = weight_register
self.register_count = register_count

236
src/logs/app.log
View File

@ -1,236 +0,0 @@
2025-09-12 19:40:44,426 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:44,426 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:44,426 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:44,426 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:44,426 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-12 19:40:44,426 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-12 19:40:47,438 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-12 19:40:47,438 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-12 19:40:50,453 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:40:50,453 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:40:53,476 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:40:53,476 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:40:57,499 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:40:57,499 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:40:57,499 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-12 19:40:57,499 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-12 19:41:00,500 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:00,500 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:03,500 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-12 19:41:03,500 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-12 19:41:03,500 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:41:03,500 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:41:07,507 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:07,507 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:07,507 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-12 19:41:07,507 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-12 19:41:07,507 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-12 19:41:07,507 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-12 19:41:10,516 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:10,516 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:13,529 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-12 19:41:13,529 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-12 19:41:13,529 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:41:13,529 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-12 19:41:17,535 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:17,535 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:41:17,535 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-12 19:41:17,535 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-12 19:41:17,535 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-12 19:41:17,535 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-12 19:42:04,120 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:42:04,120 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:42:04,120 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:42:04,120 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:42:04,120 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-12 19:42:04,120 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-12 19:42:07,124 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-12 19:42:07,124 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-12 19:42:10,125 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-12 19:42:10,125 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:35:50,544 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-13 10:35:50,544 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-13 10:35:50,546 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-13 10:35:50,546 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-13 10:35:50,546 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-13 10:35:50,546 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-13 10:35:53,550 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-13 10:35:53,550 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-13 10:35:56,552 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:35:56,552 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:35:59,555 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:35:59,555 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:03,566 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:03,566 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:03,566 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-13 10:36:03,566 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-13 10:36:06,573 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:06,573 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:09,582 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:09,582 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:09,582 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:09,582 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:13,601 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:13,601 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:13,601 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-13 10:36:13,601 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-13 10:36:13,601 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:13,601 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:16,602 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:16,602 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:19,617 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:19,617 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:19,617 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:19,617 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:23,626 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:23,626 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:23,626 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-13 10:36:23,626 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-13 10:36:23,626 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:23,626 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:26,638 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:26,638 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:29,640 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:29,640 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:29,640 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:29,640 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:33,662 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:33,662 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:33,663 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 5
2025-09-13 10:36:33,663 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 5
2025-09-13 10:36:33,663 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:33,663 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:36,672 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:36,672 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:39,685 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:39,685 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:39,685 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:39,685 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:43,711 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:43,711 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:43,711 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 6
2025-09-13 10:36:43,711 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 6
2025-09-13 10:36:43,711 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:43,711 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-13 10:36:46,715 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:46,715 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-13 10:36:49,725 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:49,725 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-13 10:36:49,725 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-13 10:36:49,725 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:07,373 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:45:07,373 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:45:11,736 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:45:11,736 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:45:12,696 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:45:12,696 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:45:15,710 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-16 19:45:15,710 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-16 19:45:18,711 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:18,711 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:21,725 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:21,725 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:25,741 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:25,741 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:25,741 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-16 19:45:25,741 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 2
2025-09-16 19:45:28,752 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:28,752 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:31,765 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:31,765 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:31,765 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:31,765 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:35,782 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:35,782 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:35,782 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-16 19:45:35,782 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 3
2025-09-16 19:45:35,782 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:35,782 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:38,797 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:38,797 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:41,810 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:41,810 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:41,810 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:41,810 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:45,835 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:45,835 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:45,835 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-16 19:45:45,835 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 4
2025-09-16 19:45:45,835 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:45,835 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:48,845 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:48,845 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:51,859 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:51,859 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:45:51,859 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:51,859 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:45:55,885 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:55,885 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:55,885 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 5
2025-09-16 19:45:55,885 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 5
2025-09-16 19:45:55,885 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:55,885 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:45:58,890 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:45:58,890 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:01,900 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:01,900 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:01,900 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:01,900 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:05,921 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:05,921 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:05,921 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 6
2025-09-16 19:46:05,921 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 6
2025-09-16 19:46:05,921 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:05,921 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:08,926 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:08,926 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:11,936 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:11,936 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:11,936 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:11,936 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:15,950 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:15,950 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:15,950 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 7
2025-09-16 19:46:15,950 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 7
2025-09-16 19:46:15,950 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:15,950 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:18,958 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:18,958 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:21,965 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:21,965 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:21,965 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:21,965 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:25,987 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:25,987 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:25,987 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 8
2025-09-16 19:46:25,987 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 8
2025-09-16 19:46:25,987 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:25,987 - FeedingControl.FeedingController - ERROR - <20><><EFBFBD>棺<EFBFBD><E6A3BA><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
2025-09-16 19:46:28,989 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:28,989 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:46:31,993 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:31,993 - FeedingControl.TransmitterController.lower - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> lower Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.22:502]
2025-09-16 19:46:31,993 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:31,993 - FeedingControl.StateMachine - INFO - ϵͳ<CFB5><CDB3><EFBFBD>ڿ<EFBFBD><DABF><EFBFBD>״̬
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - <20>յ<EFBFBD><D5B5>ź<EFBFBD> 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣϵͳ...
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - <20>յ<EFBFBD><D5B5>ź<EFBFBD> 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣϵͳ...
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3>ֹͣ
2025-09-16 19:46:32,358 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3>ֹͣ
2025-09-16 19:57:25,205 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:57:25,205 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:57:30,519 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:57:30,519 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-16 19:57:32,282 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:57:32,282 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:57:47,433 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-16 19:57:47,433 - FeedingControl.FeedingController - WARNING - <20><><EFBFBD>϶<EFBFBD><CFB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡʧ<C8A1>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 1
2025-09-16 19:58:06,833 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:58:06,833 - FeedingControl.TransmitterController.upper - ERROR - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> upper Modbusͨ<73>Ŵ<EFBFBD><C5B4><EFBFBD>: Modbus Error: [Connection] Failed to connect[ModbusTcpClient 192.168.0.21:502]
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - <20>յ<EFBFBD><D5B5>ź<EFBFBD> 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣϵͳ...
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - <20>յ<EFBFBD><D5B5>ź<EFBFBD> 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣϵͳ...
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>ϵͳ
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3>ֹͣ
2025-09-16 19:58:12,731 - FeedingControl.MainSystem - INFO - <20><><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3>ֹͣ

84
src/main.py
View File

@ -1,84 +0,0 @@
import time
import signal
import sys
import threading
from utils.config import config
from utils.logger import app_logger
from control.feeding_controller import FeedingController
class FeedingControlSystem:
"""主控制系统"""
def __init__(self):
self.logger = app_logger.getChild('MainSystem')
self.running = False
self.controller = None
self._setup_signal_handlers()
self._initialize_controller()
def _setup_signal_handlers(self):
"""设置信号处理器"""
signal.signal(signal.SIGINT, self._signal_handler)
signal.signal(signal.SIGTERM, self._signal_handler)
def _signal_handler(self, signum, frame):
"""信号处理函数"""
self.logger.info(f"收到信号 {signum}，正在停止系统...")
self.stop()
sys.exit(0)
def _initialize_controller(self):
"""初始化控制器"""
try:
self.controller = FeedingController()
self.logger.info("控制器初始化完成")
except Exception as e:
self.logger.error(f"控制器初始化失败: {e}")
raise
def start(self):
"""启动系统"""
if self.running:
self.logger.warning("系统已在运行")
return
self.logger.info("启动控制系统")
self.running = True
# 主循环
monitoring_interval = config.get('parameters.monitoring_interval', 1)
while self.running:
try:
if self.controller:
self.controller.run_cycle()
time.sleep(monitoring_interval)
except Exception as e:
self.logger.error(f"系统运行错误: {e}")
time.sleep(monitoring_interval)
def stop(self):
"""停止系统"""
if not self.running:
self.logger.warning("系统未在运行")
return
self.logger.info("停止控制系统")
self.running = False
self.logger.info("控制系统已停止")
def main():
"""主函数"""
try:
system = FeedingControlSystem()
system.start()
except Exception as e:
app_logger.error(f"系统启动失败: {e}")
sys.exit(1)
if __name__ == "__main__":
main()

4
src/utils/__init__.py
View File

@ -1,4 +0,0 @@
from .config import Config
from .logger import setup_logger
__all__ = ['Config', 'setup_logger']

39
src/utils/config.py
View File

@ -1,39 +0,0 @@
import yaml
import os
from typing import Dict, Any
class Config:
"""配置管理类"""
def __init__(self, config_path: str = "D:\pycharmproject\Feeding_control_system\config\config.yaml"):
self.config_path = config_path
self._config = self._load_config()
def _load_config(self) -> Dict[str, Any]:
"""加载配置文件"""
if not os.path.exists(self.config_path):
raise FileNotFoundError(f"配置文件不存在: {self.config_path}")
with open(self.config_path, 'r', encoding='utf-8') as file:
return yaml.safe_load(file)
def get(self, key_path: str, default=None):
"""获取配置值，支持点号分隔的路径"""
keys = key_path.split('.')
value = self._config
try:
for key in keys:
value = value[key]
return value
except (KeyError, TypeError):
return default
def reload(self):
"""重新加载配置"""
self._config = self._load_config()
# 全局配置实例
config = Config()

33
src/utils/logger.py
View File

@ -1,33 +0,0 @@
import logging
import os
def setup_logger(name, log_file, level=logging.INFO):
"""设置日志记录器"""
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s'
)
# 确保日志目录存在
log_dir = os.path.dirname(log_file)
if log_dir and not os.path.exists(log_dir):
os.makedirs(log_dir)
# 文件处理器
file_handler = logging.FileHandler(log_file)
file_handler.setFormatter(formatter)
# 控制台处理器
console_handler = logging.StreamHandler()
console_handler.setFormatter(formatter)
logger = logging.getLogger(name)
logger.setLevel(level)
logger.addHandler(file_handler)
logger.addHandler(console_handler)
return logger
# 创建全局日志记录器
app_logger = setup_logger('FeedingControl', 'logs/app.log')

BIN
src/vision/alig.pt
View File

Binary file not shown.

88
src/vision/anger_caculate.py
View File

@ -1,88 +0,0 @@
import cv2
import os
import numpy as np
from ultralytics import YOLO
def predict_obb_best_angle(model=None, model_path=None, image=None, image_path=None, save_path=None):
"""
输入：
model: 预加载的YOLO模型实例（可选）
model_path: YOLO 权重路径（当model为None时使用）
image: 图像数组（numpy array）
image_path: 图片路径（当image为None时使用）
save_path: 可选，保存带标注图像
输出：
angle_deg: 置信度最高两个框的主方向夹角（度），如果检测少于两个目标返回 None
annotated_img: 可视化图像
"""
# 1. 使用预加载的模型或加载新模型
if model is not None:
loaded_model = model
elif model_path is not None:
loaded_model = YOLO(model_path)
else:
raise ValueError("必须提供model或model_path参数")
# 2. 读取图像（优先使用传入的图像数组）
if image is not None:
img = image
elif image_path is not None:
img = cv2.imread(image_path)
if img is None:
print(f"无法读取图像: {image_path}")
return None, None
else:
raise ValueError("必须提供image或image_path参数")
# 3. 推理 OBB
results = loaded_model(img, save=False, imgsz=640, conf=0.5, mode='obb')
result = results[0]
# 4. 可视化
annotated_img = result.plot()
if save_path:
os.makedirs(os.path.dirname(save_path), exist_ok=True)
cv2.imwrite(save_path, annotated_img)
print(f"推理结果已保存至: {save_path}")
# 5. 提取旋转角度和置信度
boxes = result.obb
if boxes is None or len(boxes) < 2:
print("检测到少于两个目标，无法计算夹角。")
return None, annotated_img
box_info = []
for box in boxes:
conf = box.conf.cpu().numpy()[0]
cx, cy, w, h, r_rad = box.xywhr.cpu().numpy()[0]
direction = r_rad if w >= h else r_rad + np.pi/2
direction = direction % np.pi
box_info.append((conf, direction))
# 6. 取置信度最高两个框
box_info = sorted(box_info, key=lambda x: x[0], reverse=True)
dir1, dir2 = box_info[0][1], box_info[1][1]
# 7. 计算夹角（最小夹角，0~90°）
diff = abs(dir1 - dir2)
diff = min(diff, np.pi - diff)
angle_deg = np.degrees(diff)
print(f"置信度最高两个框主方向夹角: {angle_deg:.2f}°")
return angle_deg, annotated_img
# ------------------- 测试 -------------------
# if __name__ == "__main__":
# weight_path = r'angle.pt'
# image_path = r"./test_image/3.jpg"
# save_path = "./inference_results/detected_3.jpg"
#
# #angle_deg, annotated_img = predict_obb_best_angle(weight_path, image_path, save_path)
# angle_deg,_ = predict_obb_best_angle(model_path=weight_path, image_path=image_path, save_path=save_path)
# annotated_img = None
# print(angle_deg)
# if annotated_img is not None:
# cv2.imshow("YOLO OBB Prediction", annotated_img)
# cv2.waitKey(0)
# cv2.destroyAllWindows()

BIN
src/vision/angle.pt
View File

Binary file not shown.

BIN
src/vision/overflow.pt
View File

Binary file not shown.

106
src/vision/resize_main.py
View File

@ -1,106 +0,0 @@
import os
import shutil
from pathlib import Path
from ultralytics import YOLO
import cv2
# ---------------------------
# ROI 裁剪函数
# ---------------------------
def load_global_rois(txt_path):
"""加载全局 ROI 坐标"""
rois = []
if not os.path.exists(txt_path):
print(f"❌ ROI 文件不存在: {txt_path}")
return rois
with open(txt_path, 'r') as f:
for line in f:
line = line.strip()
if line:
try:
x, y, w, h = map(int, line.split(','))
rois.append((x, y, w, h))
print(f"📌 加载 ROI: (x={x}, y={y}, w={w}, h={h})")
except Exception as e:
print(f"⚠️ 无法解析 ROI 行: {line}, 错误: {e}")
return rois
def crop_and_resize(img, rois, target_size=640):
"""根据 ROI 裁剪并 resize"""
crops = []
for i, (x, y, w, h) in enumerate(rois):
h_img, w_img = img.shape[:2]
if x < 0 or y < 0 or x + w > w_img or y + h > h_img:
print(f"⚠️ ROI 越界，跳过: {x},{y},{w},{h}")
continue
roi_img = img[y:y+h, x:x+w]
roi_resized = cv2.resize(roi_img, (target_size, target_size), interpolation=cv2.INTER_AREA)
crops.append((roi_resized, i))
return crops
# ---------------------------
# 分类函数
# ---------------------------
def classify_and_save_images(model_path, input_folder, output_root, roi_file, target_size=640):
# 加载模型
model = YOLO(model_path)
# 确保输出根目录存在
output_root = Path(output_root)
output_root.mkdir(parents=True, exist_ok=True)
# 创建类别子文件夹 (class0 到 class4)
class_dirs = []
for i in range(5): # 假设有5个类别 (0-4)
class_dir = output_root / f"class{i}"
class_dir.mkdir(exist_ok=True)
class_dirs.append(class_dir)
# 加载 ROI
rois = load_global_rois(roi_file)
if len(rois) == 0:
print("❌ 没有有效 ROI，退出")
return
# 遍历输入文件夹
for img_path in Path(input_folder).glob("*.*"):
if img_path.suffix.lower() not in ['.jpg', '.jpeg', '.png', '.bmp', '.tif']:
continue
try:
# 读取原图
img = cv2.imread(str(img_path))
if img is None:
print(f"❌ 无法读取图像: {img_path}")
continue
# 根据 ROI 裁剪
crops = crop_and_resize(img, rois, target_size)
for roi_img, roi_idx in crops:
# YOLO 推理
results = model(roi_img)
pred = results[0].probs.data # 获取概率分布
class_id = int(pred.argmax())
# 保存到对应类别文件夹
suffix = f"_roi{roi_idx}" if len(crops) > 1 else ""
dst_path = class_dirs[class_id] / f"{img_path.stem}{suffix}{img_path.suffix}"
cv2.imwrite(dst_path, roi_img) # 保存裁剪后的 ROI 图像
print(f"Processed {img_path.name}{suffix} -> Class {class_id}")
except Exception as e:
print(f"Error processing {img_path.name}: {str(e)}")
# ---------------------------
# 主程序
# ---------------------------
if __name__ == "__main__":
model_path = r"overflow.pt"
input_folder = "/media/hx/04e879fa-d697-4b02-ac7e-a4148876ebb0/dataset/f6"
output_root = "/media/hx/04e879fa-d697-4b02-ac7e-a4148876ebb0/dataset/class111"
roi_file = "./roi_coordinates/1_rois.txt" # 训练时使用的 ROI 文件
target_size = 640
classify_and_save_images(model_path, input_folder, output_root, roi_file, target_size)

184
src/vision/resize_tuili_image_main.py
View File

@ -1,184 +0,0 @@
import os
from pathlib import Path
import cv2
import numpy as np
from ultralytics import YOLO
# ---------------------------
# 类别映射
# ---------------------------
CLASS_NAMES = {
0: "未堆料",
1: "小堆料",
2: "大堆料",
3: "未浇筑满",
4: "浇筑满"
}
# ---------------------------
# 加载 ROI 列表
# ---------------------------
def load_global_rois(txt_path):
rois = []
if not os.path.exists(txt_path):
print(f"ROI 文件不存在: {txt_path}")
return rois
with open(txt_path, 'r') as f:
for line in f:
s = line.strip()
if s:
try:
x, y, w, h = map(int, s.split(','))
rois.append((x, y, w, h))
except Exception as e:
print(f"无法解析 ROI 行 '{s}': {e}")
return rois
# ---------------------------
# 裁剪并 resize ROI
# ---------------------------
def crop_and_resize(img, rois, target_size=640):
crops = []
h_img, w_img = img.shape[:2]
for i, (x, y, w, h) in enumerate(rois):
if x < 0 or y < 0 or x + w > w_img or y + h > h_img:
continue
roi = img[y:y + h, x:x + w]
roi_resized = cv2.resize(roi, (target_size, target_size), interpolation=cv2.INTER_AREA)
crops.append((roi_resized, i))
return crops
# ---------------------------
# class1/class2 加权判断
# ---------------------------
def weighted_small_large(pred_probs, threshold=0.4, w1=0.3, w2=0.7):
p1 = float(pred_probs[1])
p2 = float(pred_probs[2])
total = p1 + p2
if total > 0:
score = (w1 * p1 + w2 * p2) / total
else:
score = 0.0
final_class = "大堆料" if score >= threshold else "小堆料"
return final_class, score, p1, p2
# ---------------------------
# 单张图片推理函数
# ---------------------------
def classify_image_weighted(image, model, threshold=0.4):
results = model(image)
pred_probs = results[0].probs.data.cpu().numpy().flatten()
class_id = int(pred_probs.argmax())
confidence = float(pred_probs[class_id])
class_name = CLASS_NAMES.get(class_id, f"未知类别({class_id})")
# class1/class2 使用加权得分
if class_id in [1, 2]:
final_class, score, p1, p2 = weighted_small_large(pred_probs, threshold=threshold)
else:
final_class = class_name
score = confidence
p1 = float(pred_probs[1])
p2 = float(pred_probs[2])
return final_class, score, p1, p2
# ---------------------------
# 实时视频流推理函数
# ---------------------------
def real_time_inference(rtsp_url, model_path, roi_file, target_size=640, threshold=0.4):
"""
从RTSP流实时推理
:param rtsp_url: RTSP流URL
:param model_path: 模型路径
:param roi_file: ROI文件路径
:param target_size: 目标尺寸
:param threshold: 分类阈值
"""
# 加载模型
model = YOLO(model_path)
# 加载ROI
rois = load_global_rois(roi_file)
if not rois:
print("❌ 没有有效 ROI，退出")
return
# 打开RTSP流
cap = cv2.VideoCapture(rtsp_url)
if not cap.isOpened():
print(f"❌ 无法打开视频流: {rtsp_url}")
return
print(f"✅ 成功连接到视频流: {rtsp_url}")
print("按 'q' 键退出，按 's' 键保存当前帧")
frame_count = 0
while True:
ret, frame = cap.read()
if not ret:
print("❌ 无法读取帧，可能连接已断开")
break
frame_count += 1
print(f"\n处理第 {frame_count} 帧")
try:
# 裁剪并调整ROI
crops = crop_and_resize(frame, rois, target_size)
for roi_resized, roi_idx in crops:
final_class, score, p1, p2 = classify_image_weighted(roi_resized, model, threshold=threshold)
print(f"ROI {roi_idx} -> 类别: {final_class}, 加权分数: {score:.2f}, "
f"class1 置信度: {p1:.2f}, class2 置信度: {p2:.2f}")
# 判断是否溢料
if "大堆料" in final_class or "浇筑满" in final_class:
print(f"🚨 检测到溢料: ROI {roi_idx} - {final_class}")
# 可视化（可选）
cv2.imshow(f'ROI {roi_idx}', roi_resized)
# 显示原始帧
cv2.imshow('Original Frame', frame)
except Exception as e:
print(f"处理帧时出错: {e}")
continue
# 键盘控制
key = cv2.waitKey(1) & 0xFF
if key == ord('q'): # 按q退出
break
elif key == ord('s'): # 按s保存当前帧
cv2.imwrite(f"frame_{frame_count}.jpg", frame)
print(f"保存帧到 frame_{frame_count}.jpg")
# 清理资源
cap.release()
cv2.destroyAllWindows()
print("✅ 视频流处理结束")
# ---------------------------
# 主函数 - 实时推理示例
# ---------------------------
if __name__ == "__main__":
# RTSP流URL
rtsp_url = "rtsp://admin:XJ123456@192.168.1.51:554/streaming/channels/101"
# 配置参数
model_path = r"overflow.pt"
roi_file = r"./roi_coordinates/1_rois.txt"
target_size = 640
threshold = 0.4
print("开始实时视频流推理...")
real_time_inference(rtsp_url, model_path, roi_file, target_size, threshold)

1
src/vision/roi_coordinates/1_rois.txt
View File

@ -1 +0,0 @@
859,810,696,328

BIN
src/vision/test_image/1.jpg
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 587 KiB

BIN
src/vision/test_image/2.jpg
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 513 KiB

BIN
src/vision/test_image/3.jpg
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 3.9 MiB

4
tests/test_control/logs/app.log
View File

@ -1,4 +0,0 @@
2025-09-12 19:40:24,636 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:27,379 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-12 19:40:31,216 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
2025-09-13 11:01:27,838 - FeedingControl.FeedingController - INFO - <20>豸<EFBFBD><E8B1B8>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

75
tests/test_control/test_feeding.py
View File

@ -1,75 +0,0 @@
import unittest
from unittest.mock import patch, MagicMock
import sys
import os
from src.control.feeding_controller import FeedingController
# 添加src目录到Python路径
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'src'))
from src.control.state_machine import FeedingState
class TestFeedingController(unittest.TestCase):
def setUp(self):
# Mock配置
self.mock_config = {
'network': {
'relay': {'host': '192.168.0.18', 'port': 50000},
'inverter': {'host': '192.168.0.20', 'port': 502, 'slave_id': 1},
'transmitters': {
'upper': {'host': '192.168.0.21', 'port': 502, 'slave_id': 1, 'weight_register': 0,
'register_count': 2},
'lower': {'host': '192.168.0.22', 'port': 502, 'slave_id': 2, 'weight_register': 0,
'register_count': 2}
}
},
'parameters': {
'min_required_weight': 50,
'max_error_count': 3,
'monitoring_interval': 1,
'timeout': 30
},
'feeding': {
'stage1_frequency': 30.0,
'stage2_frequency': 40.0,
'stage3_frequency': 50.0,
'target_weight_per_stage': 33.3
},
'relay': {
'door_upper': 0,
'door_lower_1': 1,
'door_lower_2': 2,
'break_arch_upper': 3,
'break_arch_lower': 4
}
}
@patch('control.feeding_controller.config')
def test_initialization(self, mock_config):
mock_config.get.side_effect = lambda key, default=None: self._get_nested_config(key, default)
with patch('control.feeding_controller.RelayController') as mock_relay, \
patch('control.feeding_controller.InverterController') as mock_inverter, \
patch('control.feeding_controller.TransmitterController') as mock_transmitter:
controller = FeedingController()
self.assertIsNotNone(controller)
def _get_nested_config(self, key_path, default=None):
"""辅助函数：获取嵌套配置值"""
keys = key_path.split('.')
value = self.mock_config
try:
for key in keys:
value = value[key]
return value
except (KeyError, TypeError):
return default
if __name__ == '__main__':
unittest.main()

5
tests/test_devices/logs/app.log
View File

@ -1,5 +0,0 @@
2025-09-13 10:37:43,979 - FeedingControl.RelayController - INFO - <20><><EFBFBD>Ƽ̵<C6BC><CCB5><EFBFBD> door_upper (0) open
2025-09-13 11:03:31,681 - FeedingControl.RelayController - INFO - <20><><EFBFBD>Ƽ̵<C6BC><CCB5><EFBFBD> door_upper (0) open
2025-09-13 11:03:34,120 - FeedingControl.RelayController - ERROR - <20><>Ч<EFBFBD>ļ̵<C4BC><CCB5><EFBFBD><EFBFBD>豸: invalid_device
2025-09-13 11:03:36,864 - FeedingControl.RelayController - ERROR - <20><>Ч<EFBFBD>ļ̵<C4BC><CCB5><EFBFBD><EFBFBD>豸: invalid_device
2025-09-13 11:03:36,864 - FeedingControl.RelayController - INFO - <20><><EFBFBD>Ƽ̵<C6BC><CCB5><EFBFBD> door_upper (0) open

48
tests/test_devices/test_relay.py
View File

@ -1,48 +0,0 @@
import unittest
from unittest.mock import patch, MagicMock
import sys
import os
# 添加src目录到Python路径
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'src'))
from src.divices.relay import RelayController
class TestRelayController(unittest.TestCase):
def setUp(self):
self.relay = RelayController('192.168.0.18', 50000)
self.relay.set_device_mapping({
'door_upper': 0,
'door_lower_1': 1,
'door_lower_2': 2,
'break_arch_upper': 3,
'break_arch_lower': 4
})
@patch('devices.relay.socket.socket')
def test_send_command_success(self, mock_socket):
# 模拟成功的socket通信
mock_socket_instance = MagicMock()
mock_socket.return_value.__enter__.return_value = mock_socket_instance
mock_socket_instance.recv.return_value = b'\x00\x00\x00\x00\x00\x06\x01\x05\x00\x00\xff\x00'
result = self.relay.send_command('00000000000601050000FF00')
self.assertIsNotNone(result)
def test_control_valid_device_and_action(self):
with patch.object(self.relay, 'send_command') as mock_send:
mock_send.return_value = b'some_response'
result = self.relay.control('door_upper', 'open')
self.assertTrue(result)
def test_control_invalid_device(self):
with patch.object(self.relay, 'send_command') as mock_send:
result = self.relay.control('invalid_device', 'open')
self.assertFalse(result)
mock_send.assert_not_called()
if __name__ == '__main__':
unittest.main()