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0313界面对接

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fujinliang
2026-03-13 21:04:19 +08:00
parent 6e74eaf206
commit 8aeaffa885
33 changed files with 1541 additions and 419 deletions
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2
vision/muju_cls/muju_cls_rknn.py
View File

@ -1,7 +1,6 @@
import os
import cv2
import numpy as np
from rknnlite.api import RKNNLite
from collections import deque
@ -63,6 +62,7 @@ _global_rknn = None
def init_rknn_model(model_path):
from rknnlite.api import RKNNLite
global _global_rknn
if _global_rknn is not None:
return _global_rknn

2
vision/muju_cls/muju_utils.py
View File

@ -1,6 +1,6 @@
import os
import cv2
from rknnlite.api import RKNNLite
#from rknnlite.api import RKNNLite
import time
# classify_single_image, StableClassJudge, CLASS_NAMES 已在 muju_cls_rknn 中定义

166
vision/visual_callback_dq.py
View File

@ -3,6 +3,7 @@ from pickle import FALSE
from re import S
from cv2.gapi import ov
from config.settings import app_set_config
from core.relay_feed import RelayFeedController
from hardware.relay import RelayController
from hardware.transmitter import TransmitterController
import time
@ -16,7 +17,7 @@ from vision.camera_picture import save_camera_picture
from busisness.blls import ArtifactBll,PDRecordBll
from busisness.models import ArtifactInfoModel,PDRecordModel
from service.mould_service import app_web_service
from core.system_state import SystemState,FeedStatus
from core.system_state import SystemState,FeedStatus,Upper_Door_Position
from dataclasses import asdict
import json
import math
@ -44,6 +45,8 @@ class VisualCallback:
self.relay_controller = relay_controller
self.transmitter_controller = transmitter_controller
self.relay_feed=RelayFeedController(relay_controller,state)
self.pd_record_bll=PDRecordBll()
self.state=state
@ -67,6 +70,8 @@ class VisualCallback:
self._current_controlling_thread = None
#是否启动后的第一个模具
self._is_first_module=True
#上一次派单方量
self.prev_pd_volume=0.0
self.init_val()
# self._setup_logging_2()
@ -88,6 +93,8 @@ class VisualCallback:
self._time_mould_end=''
#记录当前模具信息model
self._cur_mould_model=None
self.plc_valid_data=[5,37]
self.plc_valid_data_jbl=[66,98]
# self.db_queue=queue.Queue()
# 获取视觉数据线程（angle_visual_callback推送的数据），并进行处理，注意处理视觉进行夹角控制
@ -308,7 +315,7 @@ class VisualCallback:
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第一阶段振动5秒（小于200KG）-----------------')
self.relay_controller.control_arch_lower_open_sync(5)
self.relay_feed.control_arch_lower_open_sync(5)
self._last_arch_one_weight = _arch_weight
continue
self._last_arch_one_weight = _arch_weight
@ -322,8 +329,8 @@ class VisualCallback:
if (_weight_changed < 100) and \
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第二阶段振动3秒-----------------')
self.relay_controller.control_arch_upper_open_sync(3)
#print('---------------------第二阶段振动3秒-----------------')
# self.relay_feed.control_arch_upper_open_sync(3)
self._last_arch_two_weight = _arch_weight
continue
self._last_arch_two_weight = _arch_weight
@ -339,7 +346,7 @@ class VisualCallback:
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print('---------------------第三阶段振动5秒(小于100KG）-----------------')
self.relay_controller.control_arch_lower_open_sync(5)
self.relay_feed.control_arch_lower_open_sync(5)
self._last_arch_three_weight = _arch_weight
continue
self._last_arch_three_weight = _arch_weight
@ -355,7 +362,7 @@ class VisualCallback:
self._last_arch_time = current_time
print('---------------------第四阶段振动5秒-----------------')
#重量不准，暂时不振动
# self.relay_controller.control_arch_upper_open_sync(5)
# self.relay_feed.control_arch_upper_open_sync(5)
self._last_arch_four_weight = _arch_weight
continue
self._last_arch_four_weight = _arch_weight
@ -372,7 +379,7 @@ class VisualCallback:
(current_time - self._last_arch_time) >= 2:
self._last_arch_time = current_time
print(f'---------------------第五阶段振动3秒(小于{_min_arch_weight}kg)）-----------------')
self.relay_controller.control_arch_lower_open_sync(3)
self.relay_feed.control_arch_lower_open_sync(3)
self._last_arch_five_weight = _arch_weight
continue
self._last_arch_five_weight = _arch_weight
@ -486,6 +493,13 @@ class VisualCallback:
print('------------启动程序后，进入第一块-------------')
self._is_first_module=False
self._mould_before_aligned=True
if self._cur_mould_model:
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':2,
'weight':0,
}
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight:
self._init_lower_weight=_current_weight
@ -575,6 +589,14 @@ class VisualCallback:
print(f'--------进入关闭(浇筑满)-----------')
self.safe_control_lower_close(3)
print(f'--------浇筑完成-----------')
if self._cur_mould_model:
self.state._db_mould_status={
'mould_code':self._cur_mould_model.MouldCode,
'status':3,
'weight':self.state._mould_finish_weight,
}
# try:
# self.db_queue.put_nowait({
# "f":self._is_small_f,
@ -633,7 +655,6 @@ class VisualCallback:
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料（F块）--------------------")
self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
# loc_relay=self.relay_controller
loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
@ -664,6 +685,8 @@ class VisualCallback:
cur_weight_none=0
first_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio=(first_finish_weight)/need_total_weight
self.state._mould_finish_weight=first_finish_weight
self.state._mould_finish_ratio=self._is_finish_ratio
print(f'------------已下料比例: {self._is_finish_ratio}-------------')
# if self._is_finish_ratio>=1:
#关5秒
@ -683,7 +706,7 @@ class VisualCallback:
"""第一阶段下料：下料斗向模具车下料（低速）"""
print("--------------------开始下料（普通块）--------------------")
self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
loc_relay=self.relay_controller
loc_relay=self.relay_feed
loc_mitter=self.transmitter_controller
max_weight_none=5
cur_weight_none=0
@ -710,12 +733,15 @@ class VisualCallback:
return
continue
cur_weight_none=0
self._is_finish_ratio=(initial_lower_weight-current_weight)/need_total_weight
self.state._mould_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio= self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
print(f'------------已下料比例: {self._is_finish_ratio}-------------')
if current_weight<250 and current_weight>0:
# if current_weight>100:
#100,上面粘贴的，振动一下
# self.relay_controller.control_arch_lower_open_async(5)
# loc_relay.control_arch_lower_open_async(5)
self.close_lower_door_visual()
break
time.sleep(1)
@ -729,12 +755,12 @@ class VisualCallback:
print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
while self.plc_data not in [5,37]:
while self.plc_data not in self.plc_valid_data:
#print('------------上料斗未就位----------------')
# print('------------上料斗未就位----------------')
time.sleep(1)
if self.plc_data==5 or self.plc_data==37:
if self.plc_data in self.plc_valid_data:
print(f'------------上料斗就位（上料斗往下料斗阶段）-------------')
#打开上料斗出砼门，开5就，开三分之一下
@ -742,7 +768,7 @@ class VisualCallback:
self._is_feed_stage=2
loc_time_count=1
upper_open_time=time.time()
self.state._upper_door_closed=1
while not self._is_finish:
current_upper_weight = loc_mitter.read_data(1)
if current_upper_weight is None:
@ -751,7 +777,8 @@ class VisualCallback:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第一次上到下,上料斗重量异常----------------')
print('------------第一次上到下,上料斗重量异常----------------')
loc_relay.control_upper_close_sync(5+loc_time_count)
self.state._upper_door_closed=0
loc_relay.control_upper_close_sync(5+loc_time_count)
return
continue
cur_weight_none=0
@ -760,6 +787,7 @@ class VisualCallback:
_two_lower_weight=0
if (current_upper_weight<3200 and current_upper_weight>0) or _two_lower_weight>3200:
#关5秒,loc_time_count多关一秒
self.state._upper_door_closed=0
loc_relay.control_upper_close_sync(5+loc_time_count)
break
else:
@ -772,7 +800,7 @@ class VisualCallback:
time.sleep(0.5)
else:
loc_relay.control_upper_close_sync(6+loc_time_count)
self.state._upper_door_closed=0
self.is_start_visual=True
initial_lower_weight=loc_mitter.read_data(2)
if initial_lower_weight is None:
@ -789,11 +817,13 @@ class VisualCallback:
return
continue
cur_weight_none=0
self._is_finish_ratio=(first_finish_weight+initial_lower_weight-current_weight)/need_total_weight
self.state._mould_finish_weight=first_finish_weight+initial_lower_weight-current_weight
self._is_finish_ratio=self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
if current_weight<250:
# if current_weight>100:
#100,上面粘贴的，振动一下
# self.relay_controller.control_arch_lower_open_async(5)
# loc_relay.control_arch_lower_open_async(5)
self.close_lower_door_visual()
break
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
@ -807,7 +837,8 @@ class VisualCallback:
print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
self._is_feed_stage=0
if self.plc_data==5 or self.plc_data==37:
if self.plc_data in self.plc_valid_data:
self.state._upper_door_closed=2
#第二次上料斗向下料斗转移
loc_relay.control_upper_open_sync(12)
loc_time_count=1
@ -818,6 +849,7 @@ class VisualCallback:
#initial_upper_weight=loc_mitter.read_data(1)
#start_time=None
self._is_feed_stage=4
while not self._is_finish:
# print(f'------------上料斗向下料斗转移22222-------------')
current_upper_weight = loc_mitter.read_data(1)
@ -827,8 +859,9 @@ class VisualCallback:
#如果重量连续5次为None，认为上料斗未就位，跳出循环
print('------------第二次上到下,上料斗重量异常----------------')
print('------------第二次上到下,上料斗重量异常----------------')
self.state._upper_door_closed=0
loc_relay.control_upper_close_sync(15)
break
return
continue
cur_weight_none=0
if (current_upper_weight<600 and current_upper_weight>0) or upper_open_time_2 is not None:
@ -838,6 +871,7 @@ class VisualCallback:
loc_relay.control_arch_upper_open_async(5)
# loc_relay.control_arch_upper_open()
loc_relay.control_upper_open_sync(5)
self.state._upper_door_closed=2
# start_time=None
#5秒后关闭
loc_relay.control_upper_close_after()#control_upper_close_sync(8+loc_time_count)
@ -853,6 +887,8 @@ class VisualCallback:
time.sleep(0.5)
else:
loc_relay.control_upper_close_sync(15)
self.state._upper_door_closed=0
# time.sleep(0.4)
#第三次下料斗转移到模具车
@ -877,7 +913,9 @@ class VisualCallback:
continue
cur_weight_none=0
second_finish_weight=initial_lower_weight-current_weight
self._is_finish_ratio=(second_finish_weight+first_finish_weight)/need_total_weight
self.state._mould_finish_weight=second_finish_weight+first_finish_weight
self._is_finish_ratio=self.state._mould_finish_weight/need_total_weight
self.state._mould_finish_ratio=self._is_finish_ratio
print(f'------------已下料比例: {self._is_finish_ratio}-------------')
# if self._is_finish_ratio>=1:
#关5秒
@ -1340,6 +1378,15 @@ class VisualCallback:
#4即将振捣室5振捣室 64即将搅拌楼 66到达搅拌楼
# print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
self.plc_data=data
if self.plc_data in self.plc_valid_data:
if self.state._upper_door_position!=Upper_Door_Position.ZDS:
self.state._upper_door_position=Upper_Door_Position.ZDS
elif self.plc_data in self.plc_valid_data_jbl:
if self.state._upper_door_position!=Upper_Door_Position.JBL:
self.state._upper_door_position=Upper_Door_Position.JBL
else:
if self.state._upper_door_position!=Upper_Door_Position.Returning:
self.state._upper_door_position=Upper_Door_Position.Returning
# @classmethod
# def instance_exists(cls):
@ -1360,82 +1407,12 @@ class VisualCallback:
# self.safe_control_lower_close()
# 等待线程结束
if self.callback_thread.is_alive():
if self.callback_thread and self.callback_thread.is_alive():
self.callback_thread.join(timeout=1.0)
if self.diff_thread:
if self.diff_thread and self.diff_thread.is_alive():
self.diff_thread.join(timeout=1.0)
# self.relay_controller._close_lower_5s
def send_pd_data(self):
"""
发送PD数据到OPC队列
"""
# 构建PD数据
_cur_mould=self._cur_mould_model
if _cur_mould is not None:
if _cur_mould.MouldCode:
_pdrecords = self.pd_record_bll.get_last_pds(_cur_mould.MouldCode)
if _pdrecords:
_pdrecord=_pdrecords[0]
if _pdrecord.TaskID:
if _pdrecord.BlockNumber=='F':
print(f'{_pdrecord.MouldCode} F块，不发送派单数据')
print(f'{_pdrecord.MouldCode} F块，不发送派单数据')
print(f'{_pdrecord.MouldCode} F块，不发送派单数据')
return True
_fact_volumn=self.get_fact_volumn(_pdrecord.MouldCode,_pdrecord.BlockNumber)
if _fact_volumn>0:
_pdrecord.FBetonVolume=_fact_volumn
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
self.state._pd_data=_pdrecord
return True
else:
return False
else:
print(f'{_pdrecord.MouldCode} 未获取到数据-(等待扫码)')
return False
else:
print(f'接口数据异常')
return False
else:
return None
def get_fact_volumn(self,mould_code:str,block_number:str='') -> float:
"""获取实际派单发量"""
_now_volumn=0
_pd_volumn=0
print(f'get_fact_volumn当前重量：{self._init_lower_weight}')
_now_volumn=self._init_lower_weight/2500
if not block_number and '-' in mould_code:
block_number = mould_code.split('-')[0][-2:]
if block_number in ['B1','B2','B3']:
_pd_volumn=1.9
elif block_number=='L1':
_pd_volumn=2.0
if _now_volumn>0.5:
#保证至少0.5方
_pd_volumn=1.9-_now_volumn+0.5
_pd_volumn=math.ceil(_pd_volumn*10)/10
if _pd_volumn<0.8:
_pd_volumn=0.8
#调整
elif block_number=='L2':
#2.4方，大约L2和F的量
_pd_volumn=2.4
# if _weight>1300:
#留0.15 math.floor(_now_volumn*10)/10 保留一位小数，丢掉其他的
_pd_volumn=_pd_volumn-math.floor(_now_volumn*10)/10+0.1
_pd_volumn=math.ceil(_pd_volumn*10)/10
if _pd_volumn>2.1:
_pd_volumn=2.1
elif _pd_volumn<0.8:
_pd_volumn=0.8
return _pd_volumn
def get_current_mould(self):
"""获取当前要浇筑的管片"""
_not_poured=app_web_service.get_not_pour_artifacts()
@ -1443,6 +1420,7 @@ class VisualCallback:
_cur_poured_model=_not_poured[-1]
if _cur_poured_model.MouldCode:
self._cur_mould_model=_cur_poured_model
self.state.current_mould=_cur_poured_model
print(f'当前要浇筑的管片 {json.dumps(asdict(_cur_poured_model), ensure_ascii=False)}')
else:
print('当前没有未浇筑的管片')

2
vision/visual_callback_dq0209.py
View File

@ -1417,7 +1417,7 @@ class VisualCallback:
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
print(f'{_pdrecord.MouldCode}-{_pdrecord.BlockNumber} 实际派单方量：{_fact_volumn},{_fact_volumn},{_fact_volumn}')
self.state._pd_data=_pdrecord
# self.state._pd_data=_pdrecord
return True
else:
return False