stage_one

2025-12-12 18:00:14 +08:00
parent dc4ef9002e
commit b8b9679bc8
55 changed files with 6541 additions and 459 deletions
--- a/main.py
+++ b/main.py
@ -4,31 +4,139 @@ from config.settings import app_set_config
 from core.system import FeedingControlSystem
 from hardware import relay
 from hardware.relay import RelayController
+from hardware.inverter import InverterController
+from hardware.transmitter import TransmitterController
 import threading
 import time
+import cv2
+import  vision.visual_callback_1203 as angle_visual


 def main():
    # 加载配置
    # 初始化系统
+    # angle_visual.angle_visual_callback(2,'未堆料')
+    replay_controller=RelayController()
+    # transmitter_controller=TransmitterController(replay_controller)
+    # upper_weight=transmitter_controller.read_data(2)
+    # print(upper_weight)
+    
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')

-    # relay_c=RelayController()
-    # self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
-    system = FeedingControlSystem()
-    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')

-    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
-    system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
-    # system.relay_controller._close_upper_5s()
+    #5-10度徘徊
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'open')
+    # time.sleep(0.1)
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')

-    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
+    #5-15度徘徊
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
+    replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
+    time.sleep(0.3)
+    replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
+    time.sleep(0.3)
+    replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'open')
+    time.sleep(0.4)
+    replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
+    time.sleep(3)
+    replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
+    time.sleep(0.3)
+    replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
+    time.sleep(0.3)
+    replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'open')
+    time.sleep(0.4)
+    replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
+
+    # replay_controller.close_all()
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'open')
+
+
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'close')
+    # time.sleep(0.4)
+    # replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'open')
+    # time.sleep(0.4)
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
+   
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'open')
+    # time.sleep(4)
+    # while True:
+    #     # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'close')
+    #     time.sleep(2)
+        # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'open')
+        # time.sleep(0.1)
+    
+    # time.sleep(0.5)
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'open')
+    # time.sleep(0.5)
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'close')
+    # time.sleep(0.5)
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'open')
+    # time.sleep(0.5)
+    # replay_controller.control(replay_controller.DOOR_UPPER_OPEN, 'close')
+     
+    # time.sleep(3)
+
+     
+
+    # inverter_controller=InverterController(replay_controller)
+    # inverter_controller.control('start')
+
+    # inverter_controller.control('stop')
+ 
+
+
+    # return
+    # replay_controller.control_upper_open()
+    #3秒开关
+    # replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
+    # time.sleep(1)
+    # replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
+   
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'open')
+    # time.sleep(1)
+    # replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
+
+   
+    # while True:
+    #     time.sleep(1)
+  
+    # replay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+   
+    # system = FeedingControlSystem()
+    
    # system.state.vehicle_aligned=True
+    #假设在振捣室
    # system.state._upper_door_position='over_lower'
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
    # system.initialize()

    # system.state._feed_status=FeedStatus.FCheckM
-    while True:
-        time.sleep(2)
+
+    # cv2.namedWindow("控制系统", cv2.WND_PROP_VISIBLE)
+    # cv2.setWindowProperty("控制系统", cv2.WND_PROP_VISIBLE, 0)  
+    # while True:
+    #     key = cv2.waitKey(100) & 0xFF
+    #     if key == ord('q') or key == 27:  # 'q'键或ESC键
+    #         print("接收到退出信号，正在关闭系统...")
+    #         break
+      
+    #     time.sleep(1)  # 减少CPU占用
+
+    # replay_controller.close_all()
+
+
+     # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
+
+    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
+    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
+    # time.sleep(5)
+    # system.relay_controller.control_upper_close()
+
+
+    # system.relay_controller.control(system.relay_controller, 'close')
+
+    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')

    # system.camera_controller.start_cameras()
    # loc_all_close=True