完成中交三航控制系统

feeding/process.py

@@ -1,4 +1,3 @@
-# feeding/process.py
 class FeedingProcess:
     def __init__(self, relay_controller, inverter_controller,
                  transmitter_controller, vision_detector,
@@ -17,6 +16,11 @@ class FeedingProcess:
             print("下料已在进行中")
             return
 
+        # 检查关键设备是否可连接
+        if not self._check_device_connectivity():
+            print("关键设备连接失败，无法开始下料")
+            return
+
         print("开始分步下料过程")
         # 重置计数器
         self.state.lower_feeding_cycle = 0
@@ -29,6 +33,43 @@ class FeedingProcess:
         self.state.lower_feeding_stage = 4
         self.wait_for_vehicle_alignment()
 
+    def _check_device_connectivity(self):
+        """检查关键设备连接状态"""
+        try:
+            # 检查网络继电器连接
+            test_response = self.relay_controller.send_command(self.relay_controller.read_status_command)
+            if not test_response:
+                print("网络继电器连接失败")
+                return False
+
+            # 检查变频器连接
+            if not self.relay_controller.modbus_client.connect():
+                print("无法连接到网络继电器Modbus服务")
+                return False
+
+            # 尝试读取变频器一个寄存器（测试连接）
+            test_result = self.relay_controller.modbus_client.read_holding_registers(
+                address=0x00,
+                count=1,
+                slave=self.inverter_controller.config['slave_id']
+            )
+
+            if isinstance(test_result, Exception):
+                print("变频器连接测试失败")
+                return False
+
+            # 检查下料斗变送器连接
+            test_weight = self.transmitter_controller.read_data(2)
+            if test_weight is None:
+                print("下料斗变送器连接失败")
+                return False
+
+            self.relay_controller.modbus_client.close()
+            return True
+        except Exception as e:
+            print(f"设备连接检查失败: {e}")
+            return False
+
     def transfer_material_from_upper_to_lower(self):
         """上料斗向下料斗下料"""
         print(f"上料斗向下料斗下料 (第 {self.state.upper_feeding_count + 1} 次)")