stage_one
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@ -77,20 +77,20 @@ class FeedingController:
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current_time = time.time()
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# 检查下料斗破拱（只有在下料过程中才检查）
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# if self.state.lower_feeding_stage in [1, 2, 3]: # 在所有下料阶段检查
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# lower_weight = self.transmitter_controller.read_data(2)
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# if lower_weight is not None:
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# # 检查重量变化是否过慢（小于0.1kg变化且时间超过10秒）
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# if (abs(lower_weight - self.state.last_lower_weight) < 0.1) and \
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# (current_time - self.state.last_weight_time) > 10:
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# print("下料斗可能堵塞，启动破拱")
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# self.state._lower_is_arch_=True
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# self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'open')
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# time.sleep(2)
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# self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'close')
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# self.state._lower_is_arch_=False
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if self.state.lower_feeding_stage in [1, 2, 3]: # 在所有下料阶段检查
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lower_weight = self.transmitter_controller.read_data(2)
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if lower_weight is not None:
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# 检查重量变化是否过慢（小于0.1kg变化且时间超过10秒）
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if (abs(lower_weight - self.state.last_lower_weight) < 10) and \
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(current_time - self.state.last_weight_time) > 1:
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print("下料斗可能堵塞，启动破拱")
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self.state._lower_is_arch_=True
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'open')
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time.sleep(2)
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_LOWER, 'close')
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self.state._lower_is_arch_=False
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# self.state.last_lower_weight = lower_weight
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self.state.last_lower_weight = lower_weight
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# 检查上料斗破拱（在上料斗向下料斗下料时检查）
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if self.state._feed_status == FeedStatus.FUpperToLower: # 在任何阶段都可能需要上料斗破拱
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@ -98,8 +98,8 @@ class FeedingController:
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upper_weight = self.transmitter_controller.read_data(1)
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if upper_weight is not None:
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# 检查重量变化是否过慢（小于0.1kg变化且时间超过10秒）,觉得有点小。改成
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if (abs(upper_weight - self.state.last_upper_weight) < 100) and \
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(current_time - self.state.last_weight_time) > 5:
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if (abs(upper_weight - self.state.last_upper_weight) < 25) and \
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(current_time - self.state.last_weight_time) > 1:
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print("上料斗可能堵塞，启动破拱")
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self.state._upper_is_arch_=True
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self.relay_controller.control(self.relay_controller.BREAK_ARCH_UPPER, 'open')
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@ -119,58 +119,85 @@ class FeedingController:
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视觉控制主逻辑
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"""
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# 检测是否溢料
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self.state.overflow_detected = self.vision_detector.detect_overflow(current_frame)
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# print('视觉控制线程启用中...')
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# self.state.overflow_detected = self.vision_detector.detect_overflow(current_frame)
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overflow=self.state.overflow_detected in ["大堆料", "小堆料"]
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current_angle = self.vision_detector.detect_angle(image=current_frame)
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current_angle =self.vision_detector.detect_angle(image=current_frame)
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if current_angle is None:
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print("无法获取当前角度，跳过本次调整")
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return
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self.state.last_angle = current_angle
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self.state._lower_angle=current_angle
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print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 溢料返回: {self.state.overflow_detected}")
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return
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print(f"当前角度: {current_angle:.2f}°")
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# return
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if self.state.overflow_detected!="浇筑满":
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if current_angle is None:
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print("无法获取当前角度，跳过本次调整")
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return
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print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 控制模式: {self.state.angle_control_mode}")
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# print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 控制模式: {self.state.angle_control_mode}")
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# 状态机控制逻辑
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if self.state.angle_control_mode == "normal":
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# 正常模式大于app_set_config.angle_threshold=60度
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if overflow and current_angle > app_set_config.angle_threshold:
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# 检测到堆料且角度过大，进入角度减小模式
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print("检测到堆料且角度过大，关闭出砼门开始减小角度")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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if overflow:
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# if current_angle > app_set_config.angle_threshold:
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# # 检测到堆料且角度过大，进入角度减小模式
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# print("检测到堆料且角度过大，关闭出砼门开始减小角度")
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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self.state.angle_control_mode = "reducing"
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else:
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else:
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# 保持正常开门 30
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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if current_angle >app_set_config.target_angle:
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# 角度已降至目标范围，关闭出砼门
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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else:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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print(f'当前重量:{self.state._mould_finish_weight:.2f}kg, 目标重量:{self.state._mould_need_weight:.2f}kg')
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if self.state._mould_need_weight>0:
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if self.state._mould_finish_weight/self.state._mould_need_weight>=0.8:
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print(f"完成重量占比{self.state._mould_finish_weight/self.state._mould_need_weight:.2f}，半开出砼门")
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#半开出砼门
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if current_angle >app_set_config.target_angle:
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# 角度已降至目标范围，关闭出砼门
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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time.sleep(0.3)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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else:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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time.sleep(0.32)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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else:
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#全开砼门
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if current_angle > app_set_config.angle_threshold:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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elif self.state.angle_control_mode == "reducing":
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# 角度减小模式
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if current_angle <= app_set_config.target_angle + app_set_config.angle_tolerance:
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# 角度已达到目标范围
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if overflow:
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# 仍有堆料，进入维持模式
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print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
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self.state.angle_control_mode = "maintaining"
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open') # 先打开门
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if overflow:
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if current_angle <= app_set_config.target_angle:
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# 角度已达到目标范围
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# 仍有堆料，进入维持模式
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print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
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if current_angle<=app_set_config.min_angle:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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time.sleep(0.1)
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self.state.angle_control_mode = "maintaining"
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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else:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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# time.sleep(0.05)
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# 先打开门
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else:
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# 无堆料，恢复正常模式
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print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.state.angle_control_mode = "normal"
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elif self.state.angle_control_mode == "maintaining":
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@ -178,8 +205,8 @@ class FeedingController:
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if not overflow:
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# 堆料已消除，恢复正常模式
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print("堆料已消除，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.state.angle_control_mode = "normal"
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else:
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# 继续维持角度控制
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@ -198,7 +225,7 @@ class FeedingController:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.state.angle_control_mode = "normal"
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else:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control_lower_close()
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@ -207,12 +234,13 @@ class FeedingController:
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用于维持模式的脉冲控制
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保持角度在目标范围内
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"""
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print("执行维持脉冲控制")
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# 关门1秒
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print("进入维持模式")
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# 关门时间
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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time.sleep(1.0)
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# 开门1秒
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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time.sleep(0.2)
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# 开门时间
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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time.sleep(1.0)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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time.sleep(0.25)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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@ -2,9 +2,10 @@ from enum import IntEnum
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from core.state import FeedStatus
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from service.mould_service import MouldService
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from busisness.blls import ArtifactBll
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from busisness.models import ArtifactInfoModel
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from busisness.models import ArtifactInfoModel,ArtifactInfo
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import time
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from datetime import datetime
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from hardware.RFID.rfid_service import rfid_service
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from config.settings import app_set_config
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class FeedingProcess:
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@ -19,7 +20,7 @@ class FeedingProcess:
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self.vision_detector = vision_detector
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self.camera_controller = camera_controller
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self.state = state
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self.state._feed_status = FeedStatus.FCheckM
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self.state._feed_status = FeedStatus.FNone
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#标志位用，是否是第一次运行
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self.is_first_flag=True
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@ -28,143 +29,36 @@ class FeedingProcess:
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loc_state=self.state
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loc_state._upper_weight=self.transmitter_controller.read_data(1)
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loc_state._lower_weight=self.transmitter_controller.read_data(2)
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# loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
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"""开始生产管片"""
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if loc_state._feed_status == FeedStatus.FNone:
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# loc_state._feed_status = FeedStatus.FCheckM
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return
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elif loc_state._feed_status == FeedStatus.FCheckM:
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"""开始生产管片"""
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loc_state.lower_feeding_stage = 4
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# if app_set_config.debug_feeding:
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# loc_state._feed_status = FeedStatus.FApiCheck
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if self.state.vehicle_aligned:
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loc_state._feed_status = FeedStatus.FApiCheck
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print("检查模车")
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print("---------------初始化数据------------------")
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loc_state._mould_need_weight= 1200
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loc_state._feed_status = FeedStatus.FFeed
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return
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elif loc_state._feed_status == FeedStatus.FApiCheck:
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print("生产已开始")
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# time.sleep(2)
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loc_modules = self.mould_service.get_not_pour_artifacts()
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if loc_modules:
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# 取第一个未浇筑的管片
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#后续放入队列处理
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loc_module = loc_modules[0]
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#API
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loc_module.Source = 1
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loc_module.BeginTime=datetime.now()
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self.artifact_bll.insert_artifact_task(loc_module)
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loc_state.current_artifact = loc_module
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loc_state._mould_need_weight=loc_module.BetonVolume*self.state.density
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print(f"已获取到未浇筑的管片:{loc_module.MouldCode}")
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# self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,1.92)
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loc_state._feed_status = FeedStatus.FCheckGB
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else:
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#未读取到AIP接口数据.
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print("未获取到未浇筑的管片")
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loc_artifacting_task=self.artifact_bll.get_artifacting_task()
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if loc_artifacting_task:
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loc_state.current_artifact = loc_artifacting_task
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loc_state._mould_need_weight=loc_artifacting_task.BetonVolume*self.state.density
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loc_state._feed_status = FeedStatus.FCheckGB
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else:
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self.state.current_artifact = None
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return
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elif loc_state._feed_status == FeedStatus.FRFID:
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print("生产已检查RFID")
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#RFID格式：模具编号,分块号,尺寸规格,方量
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rfid_info =''
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loc_MouldCode='SHZB1-4'
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loc_SizeSpecification='6600*1200'
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loc_BlockNumber='B1'
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loc.BetonVolume=1.56
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if self.state.current_artifact:
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#检测是否和RFID识别的管理一致
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loc_state._feed_status = FeedStatus.FCheckGB
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else:
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#以RFID为准
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loc_module= ArtifactInfoModel()
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loc_module.MouldCode=loc_MouldCode
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loc_module.SizeSpecification=loc_SizeSpecification
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loc_module.BlockNumber=loc_BlockNumber
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loc_module.BetonVolume=loc.BetonVolume
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self.state.current_artifact = loc_module
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#确认是否保存到数据库
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loc_state._feed_status = FeedStatus.FCheckGB
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return
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elif loc_state._feed_status == FeedStatus.FCheckGB:
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print("检查盖板对齐,")
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# time.sleep(5)
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loc_state._feed_status = FeedStatus.FUpperToLower
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#计算本次生产需要的总重量
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print(f"本次生产需要的总重量:{self.state._mould_need_weight}")
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return
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elif loc_state._feed_status == FeedStatus.FUpperToLower:
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print("上料斗向下料斗转移")
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elif loc_state._feed_status == FeedStatus.FFeed:
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print("----------------下料------------------")
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loc_state.mould_vibrate_time=time.time()
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loc_state._mould_frequency=app_set_config.frequencies[0]
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loc_state._mould_vibrate_status=1
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#上料斗重量
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loc_state.initial_upper_weight=loc_state._upper_weight
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#下料斗重量
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loc_state.initial_lower_weight=loc_state._lower_weight
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#需要的总重量
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# loc_state._mould_need_weight=loc_state.current_artifact.BetonVolume*loc_state.density
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if loc_state._mould_need_weight > loc_state.initial_upper_weight + loc_state.initial_lower_weight:
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# 等待上料斗重量增加(多久不够报警，可能出现F块不足的情况)
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print('重量不够，需要增加')
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return
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if loc_state._mould_need_weight>loc_state.initial_lower_weight:
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if self.state._upper_door_position != 'over_lower':
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#是否需要等待上料斗下料,如果下料斗够重量,则不需要等待
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return
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else:
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# 需要等待上料斗下料
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# 最后一块进行尾数控制
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# 最后一块F块，前面多要0.25,0.3，F块直接下料（先多下0.3后续）
|
||||
# loc_FWeight=0.3*loc_state.density
|
||||
# loc_feed_weight=loc_state.need_total_weight-loc_state.initial_lower_weight-loc_FWeight
|
||||
self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
|
||||
#完成了上料斗重量转移才进入下料斗
|
||||
#测试返回
|
||||
# loc_state._feed_status = FeedStatus.FFeed1
|
||||
loc_state._feed_status = FeedStatus.FNone
|
||||
|
||||
|
||||
# time.sleep(10)
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed1:
|
||||
#下料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_one(loc_state)
|
||||
print("下料1")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed2:
|
||||
#上料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_two(loc_state)
|
||||
print("下料2")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed3:
|
||||
#下料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_three(loc_state)
|
||||
print("下料3")
|
||||
loc_state.initial_lower_weight=loc_state._lower_weight
|
||||
self.feeding_stage(loc_state)
|
||||
# if loc_state._mould_need_weight>loc_state.initial_lower_weight:
|
||||
# self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
|
||||
# loc_state._feed_status = FeedStatus.FFeed1
|
||||
# else:
|
||||
# loc_state._feed_status = FeedStatus.FFeed1
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFinished:
|
||||
"""完成当前批次下料"""
|
||||
print("当前批次下料完成，关闭出砼门")
|
||||
|
||||
if loc_state.overflow_detected=="浇筑满":
|
||||
self.inverter_controller.control('stop')
|
||||
|
||||
loc_state._mould_vibrate_status=0
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
|
||||
self.relay_controller.control_upper_close()
|
||||
#更新数据库状态
|
||||
self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,loc_state._mould_finish_weight/loc_state.density)
|
||||
loc_state._feed_status = FeedStatus.FCheckM
|
||||
print("振捣完成")
|
||||
print("关闭所有网络继电器")
|
||||
self.relay_controller.close_all()
|
||||
return
|
||||
|
||||
def _start_feeding_stage(self):
|
||||
@ -177,31 +71,37 @@ class FeedingProcess:
|
||||
|
||||
"""target_upper_weight：转移后剩下的上料斗重量"""
|
||||
# 如果低于单次，全部卸掉
|
||||
_max_lower_weight=app_set_config.max_lower_volume*self.state.density
|
||||
_max_lower_weight=app_set_config.max_lower_volume*loc_state.density
|
||||
# if (initial_lower_weight+feed_weight>_max_lower_weight):
|
||||
feed_weight=_max_lower_weight-initial_lower_weight
|
||||
|
||||
target_upper_weight=initial_upper_weight-feed_weight
|
||||
target_upper_weight = max(target_upper_weight, 0)
|
||||
# 确保下料斗出砼门关闭
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
|
||||
# self.relay_controller.control_lower_close()
|
||||
# 确保下料斗出砼门关闭,同步关5秒
|
||||
self.relay_controller.control_lower_close()
|
||||
# 打开上料斗出砼门
|
||||
# self.relay_controller.control_upper_open()
|
||||
#一直打开3秒
|
||||
self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
|
||||
|
||||
time.sleep(3)
|
||||
loc_state._upper_door_closed=False
|
||||
# 等待物料流入下料斗，基于上料斗重量变化控制
|
||||
import time
|
||||
|
||||
start_time = time.time()
|
||||
# timeout = 30 # 30秒超时
|
||||
|
||||
while loc_state.running:
|
||||
# self.relay_controller.control_upper_open_sync()
|
||||
self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close')
|
||||
current_upper_weight = self.transmitter_controller.read_data(1)
|
||||
# 如果无法读取重量，继续尝试
|
||||
if current_upper_weight is None:
|
||||
print("无法读取上料斗重量，继续尝试...")
|
||||
time.sleep(1)
|
||||
continue
|
||||
|
||||
loc_state._upper_weight=current_upper_weight
|
||||
loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
|
||||
print(f"上料斗当前重量: {current_upper_weight:.2f}kg")
|
||||
|
||||
# 如果达到目标重量，则关闭上料斗出砼门
|
||||
@ -209,187 +109,59 @@ class FeedingProcess:
|
||||
print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
|
||||
print(f"花费时间 {time.time() - start_time:.2f}秒")
|
||||
break
|
||||
elif time.time() - start_time > 25: # 如果25秒后重量变化过小
|
||||
weight_change = initial_upper_weight - current_upper_weight
|
||||
if weight_change < 100: # 如果重量变化小于100kg
|
||||
#需要增加报警处理
|
||||
print("重量变化过小，可能存在堵塞")
|
||||
time.sleep(1)
|
||||
# 关闭上料斗出砼门
|
||||
# time.sleep(1)
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
|
||||
# time.sleep(0.2)
|
||||
|
||||
loc_state._upper_door_closed=True
|
||||
# 关闭上料斗出砼门d
|
||||
self.relay_controller.control_upper_close()
|
||||
|
||||
#测试用
|
||||
print("上料斗下料完成")
|
||||
|
||||
|
||||
def wait_for_vehicle_alignment(self):
|
||||
"""等待模具车对齐"""
|
||||
print("等待模具车对齐...")
|
||||
self.state.lower_feeding_stage = 4
|
||||
|
||||
import time
|
||||
while self.state.lower_feeding_stage == 4 and self.state.running:
|
||||
if self.state.vehicle_aligned:
|
||||
print("模具车已对齐，开始下料")
|
||||
self.state.lower_feeding_stage = 1
|
||||
# self.feeding_stage_one()
|
||||
break
|
||||
time.sleep(app_set_config.alignment_check_interval)
|
||||
|
||||
def feeding_stage_one(self,loc_state):
|
||||
def feeding_stage(self,loc_state):
|
||||
"""第一阶段下料：下料斗向模具车下料（低速）"""
|
||||
print("开始第一阶段下料：下料斗低速下料")
|
||||
if self.is_first_flag:
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[0])
|
||||
# self.inverter_controller.control('start')
|
||||
loc_state._mould_frequency=app_set_config.frequencies[0]
|
||||
loc_state._mould_vibrate_status=1
|
||||
print("开始下料")
|
||||
# self.relay_controller.control
|
||||
first_finish_weight=0
|
||||
while True:
|
||||
current_weight = loc_state._lower_weight
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
first_finish_weight=loc_state._mould_finish_weight
|
||||
if current_weight<100:
|
||||
#关5秒
|
||||
self.relay_controller.control_lower_close()
|
||||
break
|
||||
|
||||
# 确保上料斗出砼门关闭
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_UPPER_CLOSE, 'close')
|
||||
# 打开下料斗出砼门
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
loc_cur_weight = loc_state._lower_weight
|
||||
if loc_cur_weight is None:
|
||||
#报警处理
|
||||
print("无法获取初始重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state.initial_lower_weight=loc_cur_weight
|
||||
self.is_first_flag=False
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
start_time = time.time()
|
||||
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = loc_state._mould_need_weight/3
|
||||
# or (time.time() - start_time) > 30
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFeed2
|
||||
loc_state.lower_feeding_stage = 2
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
def feeding_stage_two(self,loc_state):
|
||||
"""第二阶段下料：下料斗向模具车下料（中速）"""
|
||||
if self.is_first_flag:
|
||||
print("开始第二阶段下料：下料斗中速下料")
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[1])
|
||||
# self.inverter_controller.control('start')
|
||||
# 保持下料斗出砼门打开
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
# 确保上料斗出砼门关闭
|
||||
self.relay_controller.control_upper_close()
|
||||
|
||||
loc_state._mould_frequency=app_set_config.frequencies[1]
|
||||
loc_state._mould_vibrate_status=1
|
||||
# loc_cur_weight = self.transmitter_controller.read_data(2)
|
||||
# if loc_cur_weight is None:
|
||||
# #报警处理
|
||||
# print("无法获取初始重量，取消下料")
|
||||
# # self.finish_feeding_process()
|
||||
# return
|
||||
# loc_state.initial_lower_weight=loc_cur_weight
|
||||
self.is_first_flag=False
|
||||
|
||||
start_time = time.time()
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = (loc_state._mould_need_weight/3)*2
|
||||
# or (time.time() - start_time) > 30
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFeed3
|
||||
loc_state.lower_feeding_stage = 3
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
def feeding_stage_three(self,loc_state):
|
||||
"""第三阶段下料：下料斗向模具车下料（高速）"""
|
||||
if self.is_first_flag:
|
||||
print("开始第三阶段下料：下料斗高速下料")
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[2])
|
||||
#打开上料斗出砼门
|
||||
self.relay_controller.control_upper_open_sync(5)
|
||||
while True:
|
||||
|
||||
loc_state._mould_frequency=app_set_config.frequencies[2]
|
||||
# 保持下料斗出砼门打开
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
# 确保上料斗出砼门关闭
|
||||
self.relay_controller.control_upper_close()
|
||||
self.is_first_flag=False
|
||||
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = loc_state._mould_need_weight
|
||||
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFinished
|
||||
loc_state.lower_feeding_stage = 5
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
if loc_state._upper_weight<3000:
|
||||
#关5秒
|
||||
self.relay_controller.control_upper_close()
|
||||
break
|
||||
loc_state.initial_lower_weight=loc_state.lower_weight
|
||||
while True:
|
||||
current_weight = loc_state._lower_weight
|
||||
loc_state._mould_finish_weight=first_finish_weight+loc_state.initial_lower_weight-current_weight
|
||||
if current_weight<100:
|
||||
#关5秒
|
||||
self.relay_controller.control_lower_close()
|
||||
break
|
||||
|
||||
time.sleep(1)
|
||||
|
||||
def finish_current_batch(self):
|
||||
"""完成当前批次下料"""
|
||||
print("当前批次下料完成，关闭出砼门")
|
||||
self.inverter_controller.control('stop')
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
|
||||
|
||||
# 增加三阶段下料轮次计数
|
||||
self.state.lower_feeding_cycle += 1
|
||||
|
||||
# 检查是否完成两轮三阶段下料
|
||||
if self.state.lower_feeding_cycle >= self.state.upper_feeding_max:
|
||||
print("完成两轮三阶段下料，5吨下料任务完成")
|
||||
self.finish_feeding_process()
|
||||
return
|
||||
|
||||
# 如果只完成一轮三阶段下料，进行第二次上料
|
||||
print("第一轮三阶段下料完成，准备第二次上料")
|
||||
# 上料斗第二次向下料斗下料
|
||||
try:
|
||||
self.transfer_material_from_upper_to_lower()
|
||||
except Exception as e:
|
||||
print(f"第二次上料失败: {e}")
|
||||
print("停止下料流程")
|
||||
self.finish_feeding_process() # 出现严重错误时结束整个流程
|
||||
return
|
||||
|
||||
# 继续等待当前模具车对齐（不需要重新等待对齐，因为是同一辆模具车）
|
||||
print("第二次上料完成，继续三阶段下料")
|
||||
self.state.lower_feeding_stage = 1 # 直接进入第一阶段下料
|
||||
self.feeding_stage_one() # 开始第二轮第一阶段下料
|
||||
|
||||
def finish_feeding_process(self):
|
||||
"""完成整个下料流程"""
|
||||
print("整个下料流程完成")
|
||||
self.state.lower_feeding_stage = 0
|
||||
self.state.lower_feeding_cycle = 0
|
||||
self.state.upper_feeding_count = 0
|
||||
# self.return_upper_door_to_default()
|
||||
|
||||
|
||||
|
||||
|
||||
def return_upper_door_to_default(self):
|
||||
"""上料斗回到默认位置（搅拌楼下接料位置）"""
|
||||
print("上料斗回到默认位置")
|
||||
self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
|
||||
# self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
|
||||
self.state._upper_door_position = 'default'
|
||||
|
||||
450
feeding/processbak_copy
Normal file
450
feeding/processbak_copy
Normal file
@ -0,0 +1,450 @@
|
||||
from enum import IntEnum
|
||||
from core.state import FeedStatus
|
||||
from service.mould_service import MouldService
|
||||
from busisness.blls import ArtifactBll
|
||||
from busisness.models import ArtifactInfoModel,ArtifactInfo
|
||||
import time
|
||||
from datetime import datetime
|
||||
from hardware.RFID.rfid_service import rfid_service
|
||||
from config.settings import app_set_config
|
||||
|
||||
class FeedingProcess22:
|
||||
def __init__(self, relay_controller, inverter_controller,
|
||||
transmitter_controller, vision_detector,
|
||||
camera_controller, state):
|
||||
self.relay_controller = relay_controller
|
||||
self.artifact_bll = ArtifactBll()
|
||||
self.mould_service = MouldService()
|
||||
self.inverter_controller = inverter_controller
|
||||
self.transmitter_controller = transmitter_controller
|
||||
self.vision_detector = vision_detector
|
||||
self.camera_controller = camera_controller
|
||||
self.state = state
|
||||
self.state._feed_status = FeedStatus.FCheckM
|
||||
|
||||
#标志位用，是否是第一次运行
|
||||
self.is_first_flag=True
|
||||
|
||||
#RFID服务
|
||||
self.rfid_service=rfid_service()
|
||||
# self.rfid_service.callback_signal.connect(self._rfid_callback)
|
||||
self.rfid_flag_succ=False
|
||||
self.rfid_data=''
|
||||
# self.rfid_service.start_receiver(self._rfid_callback)
|
||||
|
||||
|
||||
def _rfid_callback(self,status,data):
|
||||
try:
|
||||
if status==1:
|
||||
#成功读取到RFID标签
|
||||
#检查标识是否符号要求
|
||||
if data:
|
||||
loc_array=data.split(',')
|
||||
if len(loc_array)==4:
|
||||
if self.state.current_artifact is None or loc_array[0]!=self.state.current_artifact.MouldCode:
|
||||
self.rfid_flag_succ=True
|
||||
self.state.current_artifact={
|
||||
'MouldCode':loc_array[0],
|
||||
'BlockNumber':loc_array[1],
|
||||
'SizeSpecification':loc_array[2],
|
||||
'BetonVolume':float(loc_array[3])
|
||||
}
|
||||
print(f"RFID-生产模具车号:{loc_array[0]}")
|
||||
else:
|
||||
print("RFID-生产模具车号与当前模具车号一致")
|
||||
else:
|
||||
print("RFID标签格式错误")
|
||||
print(f"成功读取到RFID标签:{data}")
|
||||
else:
|
||||
self.rfid_flag_succ=False
|
||||
print("读取RFID标签失败")
|
||||
except Exception as e:
|
||||
print(f"RFID回调处理异常: {e}")
|
||||
|
||||
#读取失败
|
||||
|
||||
|
||||
|
||||
def start_feeding(self):
|
||||
loc_state=self.state
|
||||
loc_state._upper_weight=self.transmitter_controller.read_data(1)
|
||||
loc_state._lower_weight=self.transmitter_controller.read_data(2)
|
||||
loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
|
||||
"""开始生产管片"""
|
||||
if loc_state._feed_status == FeedStatus.FNone:
|
||||
# loc_state._feed_status = FeedStatus.FCheckM
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FCheckM:
|
||||
"""开始生产管片"""
|
||||
print("检查盖板对齐,")
|
||||
loc_state.lower_feeding_stage = 4
|
||||
|
||||
self.rfid_flag_succ=False
|
||||
# if app_set_config.debug_feeding:
|
||||
# loc_state._feed_status = FeedStatus.FApiCheck
|
||||
if self.state.vehicle_aligned:
|
||||
loc_state._feed_status = FeedStatus.FApiCheck
|
||||
print("检查模车")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FApiCheck:
|
||||
print("————————————————生产已开始————————————————————")
|
||||
# time.sleep(2)
|
||||
#模拟数据
|
||||
module_obj=ArtifactInfoModel()
|
||||
module_obj.ArtifactID="GR2B13082624F"
|
||||
module_obj.MouldCode="SHR2B2-4"
|
||||
module_obj.BetonVolume=1.9
|
||||
loc_modules=[module_obj]
|
||||
# loc_modules =self.mould_service.get_not_pour_artifacts()
|
||||
if loc_modules and loc_modules[0].ArtifactID :
|
||||
# 取第一个未浇筑的管片
|
||||
#后续放入队列处理
|
||||
|
||||
loc_module = loc_modules[0]
|
||||
#API
|
||||
loc_module.Source = 1
|
||||
loc_module.BeginTime=datetime.now()
|
||||
|
||||
# self.artifact_bll.insert_artifact_task(loc_module)
|
||||
loc_state.current_artifact = loc_module
|
||||
loc_state._mould_need_weight=loc_module.BetonVolume*self.state.density
|
||||
print(f"已获取到未浇筑的管片:{loc_module.MouldCode}")
|
||||
# self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,1.92)
|
||||
loc_state._feed_status = FeedStatus.FCheckGB
|
||||
else:
|
||||
#未读取到AIP接口数据.
|
||||
print("未获取到未浇筑的管片")
|
||||
loc_artifacting_task=self.artifact_bll.get_artifacting_task()
|
||||
if loc_artifacting_task:
|
||||
loc_state.current_artifact = loc_artifacting_task
|
||||
loc_state._mould_need_weight=loc_artifacting_task.BetonVolume*self.state.density
|
||||
loc_state._feed_status = FeedStatus.FCheckGB
|
||||
else:
|
||||
loc_state.current_artifact = None
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FRFID:
|
||||
print("检查RFID")
|
||||
|
||||
#RFID格式：模具编号,分块号,尺寸规格,方量
|
||||
while loc_state.running:
|
||||
if self.rfid_flag_succ:
|
||||
loc_state._feed_status = FeedStatus.FCheckGB
|
||||
break
|
||||
else:
|
||||
time.sleep(1)
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FCheckGB:
|
||||
# print("检查盖板对齐,")
|
||||
# time.sleep(5)
|
||||
loc_state._feed_status = FeedStatus.FUpperToLower
|
||||
#计算本次生产需要的总重量
|
||||
print(f"本次生产需要的总重量:{self.state._mould_need_weight}")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FUpperToLower:
|
||||
print("上料斗向下料斗转移")
|
||||
#上料斗重量
|
||||
loc_state.initial_upper_weight=loc_state._upper_weight
|
||||
#下料斗重量
|
||||
loc_state.initial_lower_weight=loc_state._lower_weight
|
||||
#需要的总重量
|
||||
# loc_state._mould_need_weight=loc_state.current_artifact.BetonVolume*loc_state.density
|
||||
if loc_state._mould_need_weight > loc_state.initial_upper_weight + loc_state.initial_lower_weight:
|
||||
# 等待上料斗重量增加(多久不够报警，可能出现F块不足的情况)
|
||||
print('重量不够，需要增加')
|
||||
return
|
||||
|
||||
if loc_state._mould_need_weight>loc_state.initial_lower_weight:
|
||||
if self.state._upper_door_position != 'over_lower':
|
||||
#是否需要等待上料斗下料,如果下料斗够重量,则不需要等待
|
||||
return
|
||||
else:
|
||||
# 需要等待上料斗下料
|
||||
# 最后一块进行尾数控制
|
||||
# 最后一块F块，前面多要0.25,0.3，F块直接下料（先多下0.3后续）
|
||||
# loc_FWeight=0.3*loc_state.density
|
||||
# loc_feed_weight=loc_state.need_total_weight-loc_state.initial_lower_weight-loc_FWeight
|
||||
self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
|
||||
#完成了上料斗重量转移才进入下料斗
|
||||
#测试返回
|
||||
loc_state._feed_status = FeedStatus.FFeed1
|
||||
# loc_state._feed_status = FeedStatus.FNone
|
||||
else:
|
||||
loc_state._feed_status = FeedStatus.FFeed1
|
||||
|
||||
# time.sleep(10)
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed1:
|
||||
#下料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_one(loc_state)
|
||||
print("下料1")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed2:
|
||||
#上料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_two(loc_state)
|
||||
print("下料2")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFeed3:
|
||||
#下料
|
||||
# self._start_feeding_stage()
|
||||
self.feeding_stage_three(loc_state)
|
||||
print("下料3")
|
||||
return
|
||||
elif loc_state._feed_status == FeedStatus.FFinished:
|
||||
"""完成当前批次下料"""
|
||||
print("当前批次下料完成，关闭出砼门")
|
||||
|
||||
if loc_state.overflow_detected=="浇筑满":
|
||||
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
|
||||
# self.relay_controller.control_upper_close()
|
||||
#更新数据库状态
|
||||
# self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,loc_state._mould_finish_weight/loc_state.density)
|
||||
print("浇筑完成")
|
||||
|
||||
# loc_state._feed_status = FeedStatus.FCheckM
|
||||
# if loc_state.mould_vibrate_time>0:
|
||||
# while True:
|
||||
# if loc_state.mould_vibrate_time-time.time()>=5*60:
|
||||
# self.inverter_controller.control('stop')
|
||||
# loc_state._mould_vibrate_status=0
|
||||
# break
|
||||
# time.sleep(1)
|
||||
print("振捣完成")
|
||||
return
|
||||
|
||||
def _start_feeding_stage(self):
|
||||
"""启动指定下料阶段"""
|
||||
"""开始分步下料"""
|
||||
print("开始分步下料过程")
|
||||
self.transfer_material_from_upper_to_lower()
|
||||
|
||||
def transfer_material_from_upper_to_lower(self,loc_state,initial_upper_weight,initial_lower_weight):
|
||||
|
||||
"""target_upper_weight：转移后剩下的上料斗重量"""
|
||||
# 如果低于单次，全部卸掉
|
||||
_max_lower_weight=app_set_config.max_lower_volume*loc_state.density
|
||||
# if (initial_lower_weight+feed_weight>_max_lower_weight):
|
||||
feed_weight=_max_lower_weight-initial_lower_weight
|
||||
|
||||
target_upper_weight=initial_upper_weight-feed_weight
|
||||
target_upper_weight = max(target_upper_weight, 0)
|
||||
# 确保下料斗出砼门关闭
|
||||
self.relay_controller.control_lower_close()
|
||||
# 打开上料斗出砼门
|
||||
# self.relay_controller.control_upper_open()
|
||||
self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
|
||||
time.sleep(3)
|
||||
loc_state._upper_door_closed=False
|
||||
# 等待物料流入下料斗，基于上料斗重量变化控制
|
||||
|
||||
start_time = time.time()
|
||||
# timeout = 30 # 30秒超时
|
||||
|
||||
while loc_state.running:
|
||||
# self.relay_controller.control_upper_open_sync()
|
||||
self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close')
|
||||
current_upper_weight = self.transmitter_controller.read_data(1)
|
||||
# 如果无法读取重量，继续尝试
|
||||
if current_upper_weight is None:
|
||||
print("无法读取上料斗重量，继续尝试...")
|
||||
time.sleep(1)
|
||||
continue
|
||||
loc_state._upper_weight=current_upper_weight
|
||||
loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
|
||||
print(f"上料斗当前重量: {current_upper_weight:.2f}kg")
|
||||
|
||||
# 如果达到目标重量，则关闭上料斗出砼门
|
||||
if current_upper_weight <= target_upper_weight + 50: # 允许50kg的误差范围
|
||||
print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
|
||||
print(f"花费时间 {time.time() - start_time:.2f}秒")
|
||||
break
|
||||
elif time.time() - start_time > 25: # 如果25秒后重量变化过小
|
||||
weight_change = initial_upper_weight - current_upper_weight
|
||||
if weight_change < 100: # 如果重量变化小于100kg
|
||||
#需要增加报警处理
|
||||
print("重量变化过小，可能存在堵塞")
|
||||
time.sleep(1)
|
||||
self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
|
||||
time.sleep(0.2)
|
||||
|
||||
loc_state._upper_door_closed=True
|
||||
# 关闭上料斗出砼门
|
||||
self.relay_controller.control_upper_close()
|
||||
|
||||
#测试用
|
||||
print("上料斗下料完成")
|
||||
|
||||
def wait_for_vehicle_alignment(self):
|
||||
"""等待模具车对齐"""
|
||||
print("等待模具车对齐...")
|
||||
self.state.lower_feeding_stage = 4
|
||||
|
||||
import time
|
||||
while self.state.lower_feeding_stage == 4 and self.state.running:
|
||||
if self.state.vehicle_aligned:
|
||||
print("模具车已对齐，开始下料")
|
||||
self.state.lower_feeding_stage = 1
|
||||
# self.feeding_stage_one()
|
||||
break
|
||||
time.sleep(app_set_config.alignment_check_interval)
|
||||
|
||||
def feeding_stage_one(self,loc_state):
|
||||
"""第一阶段下料：下料斗向模具车下料（低速）"""
|
||||
print("开始第一阶段下料：下料斗低速下料")
|
||||
if self.is_first_flag:
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[0])
|
||||
# self.inverter_controller.control('start')
|
||||
loc_state.mould_vibrate_time=time()
|
||||
loc_state._mould_frequency=app_set_config.frequencies[0]
|
||||
loc_state._mould_vibrate_status=1
|
||||
|
||||
# 确保上料斗出砼门关闭
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_UPPER_CLOSE, 'close')
|
||||
# 打开下料斗出砼门
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
loc_cur_weight = loc_state._lower_weight
|
||||
if loc_cur_weight is None:
|
||||
#报警处理
|
||||
print("无法获取初始重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state.initial_lower_weight=loc_cur_weight
|
||||
self.is_first_flag=False
|
||||
|
||||
|
||||
start_time = time.time()
|
||||
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = loc_state._mould_need_weight/3
|
||||
# or (time.time() - start_time) > 30
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFeed2
|
||||
loc_state.lower_feeding_stage = 2
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
def feeding_stage_two(self,loc_state):
|
||||
"""第二阶段下料：下料斗向模具车下料（中速）"""
|
||||
if self.is_first_flag:
|
||||
print("开始第二阶段下料：下料斗中速下料")
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[1])
|
||||
# self.inverter_controller.control('start')
|
||||
# 保持下料斗出砼门打开
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
# 确保上料斗出砼门关闭
|
||||
self.relay_controller.control_upper_close()
|
||||
|
||||
loc_state._mould_frequency=app_set_config.frequencies[1]
|
||||
loc_state._mould_vibrate_status=1
|
||||
# loc_cur_weight = self.transmitter_controller.read_data(2)
|
||||
# if loc_cur_weight is None:
|
||||
# #报警处理
|
||||
# print("无法获取初始重量，取消下料")
|
||||
# # self.finish_feeding_process()
|
||||
# return
|
||||
# loc_state.initial_lower_weight=loc_cur_weight
|
||||
self.is_first_flag=False
|
||||
|
||||
start_time = time.time()
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = (loc_state._mould_need_weight/3)*2
|
||||
# or (time.time() - start_time) > 30
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFeed3
|
||||
loc_state.lower_feeding_stage = 3
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
def feeding_stage_three(self,loc_state):
|
||||
"""第三阶段下料：下料斗向模具车下料（高速）"""
|
||||
if self.is_first_flag:
|
||||
print("开始第三阶段下料：下料斗高速下料")
|
||||
# self.inverter_controller.set_frequency(app_set_config.frequencies[2])
|
||||
# self.inverter_controller.control('start')
|
||||
loc_state._mould_frequency=app_set_config.frequencies[2]
|
||||
# 保持下料斗出砼门打开
|
||||
# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
|
||||
# 确保上料斗出砼门关闭
|
||||
self.relay_controller.control_upper_close()
|
||||
self.is_first_flag=False
|
||||
|
||||
current_weight = loc_state._lower_weight
|
||||
if current_weight is None:
|
||||
#报警处理
|
||||
print("无法获取当前重量，取消下料")
|
||||
# self.finish_feeding_process()
|
||||
return
|
||||
loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
|
||||
target_weight = loc_state._mould_need_weight
|
||||
|
||||
if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
|
||||
loc_state._feed_status = FeedStatus.FFinished
|
||||
loc_state.lower_feeding_stage = 5
|
||||
self.is_first_flag=True
|
||||
return
|
||||
else:
|
||||
time.sleep(1)
|
||||
|
||||
def finish_current_batch(self):
|
||||
"""完成当前批次下料"""
|
||||
print("当前批次下料完成，关闭出砼门")
|
||||
# self.inverter_controller.control('stop')
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
|
||||
self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
|
||||
|
||||
# 增加三阶段下料轮次计数
|
||||
self.state.lower_feeding_cycle += 1
|
||||
|
||||
# 检查是否完成两轮三阶段下料
|
||||
if self.state.lower_feeding_cycle >= self.state.upper_feeding_max:
|
||||
print("完成两轮三阶段下料，5吨下料任务完成")
|
||||
self.finish_feeding_process()
|
||||
return
|
||||
|
||||
# 如果只完成一轮三阶段下料，进行第二次上料
|
||||
print("第一轮三阶段下料完成，准备第二次上料")
|
||||
# 上料斗第二次向下料斗下料
|
||||
try:
|
||||
self.transfer_material_from_upper_to_lower()
|
||||
except Exception as e:
|
||||
print(f"第二次上料失败: {e}")
|
||||
print("停止下料流程")
|
||||
self.finish_feeding_process() # 出现严重错误时结束整个流程
|
||||
return
|
||||
|
||||
# 继续等待当前模具车对齐（不需要重新等待对齐，因为是同一辆模具车）
|
||||
print("第二次上料完成，继续三阶段下料")
|
||||
self.state.lower_feeding_stage = 1 # 直接进入第一阶段下料
|
||||
self.feeding_stage_one() # 开始第二轮第一阶段下料
|
||||
|
||||
def finish_feeding_process(self):
|
||||
"""完成整个下料流程"""
|
||||
print("整个下料流程完成")
|
||||
self.state.lower_feeding_stage = 0
|
||||
self.state.lower_feeding_cycle = 0
|
||||
self.state.upper_feeding_count = 0
|
||||
# self.return_upper_door_to_default()
|
||||
|
||||
def return_upper_door_to_default(self):
|
||||
"""上料斗回到默认位置（搅拌楼下接料位置）"""
|
||||
print("上料斗回到默认位置")
|
||||
self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
|
||||
self.state._upper_door_position = 'default'
|
||||
Reference in New Issue
Block a user