stage_one

main2.py

@@ -0,0 +1,133 @@
+# main.py
+import time
+from config.settings import app_set_config
+from core.system import FeedingControlSystem
+from hardware import relay
+from hardware.relay import RelayController
+import threading
+import time
+import cv2
+import os
+from core.state import FeedStatus
+
+
+def main():
+    system = FeedingControlSystem()
+    system.relay_controller.close_all()
+   # 启动视觉控制
+    # system.camera_controller.start_cameras()
+    # system.start_visual_control()
+    system.state._feed_status = FeedStatus.FCheckM
+    system.start_lower_feeding()
+    system.state.overflow_detected='未堆料'
+    system.initialize()
+    while True:
+        time.sleep(5)
+
+    
+    # time.sleep(1)
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+
+        # system.vision_detector.detect_angle()
+    # while True:
+    #     system.feeding_controller.pulse_control_door_for_maintaining()
+    #     time.sleep(5)
+    # system.state.vehicle_aligned=True
+    #假设在 fertilize room
+    # system.state._upper_door_position='over_lower'
+    # while True:
+    #     system.feeding_controller.pulse_control_door_for_maintaining()
+    #     time.sleep(4)
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+    
+      # 加载配置
+    # 初始化系统
+
+   
+    # 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, 'close')
+    
+    # replay_controller.control_upper_open()
+
+    # replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
+    # time.sleep(5)
+    # replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
+
+    # image=cv2.imread(os.path.join(app_set_config.project_root,'test.jpeg'))
+    # image=cv2.flip(image, 0)
+    # cv2.imshow('test',image)
+    # cv2.waitKey(1)
+  
+    # replay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+    # system.state._feed_status=FeedStatus.FCheckM
+
+    # 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
+    # if loc_all_close:
+    #     relay=RelayController()
+    #     relay.control(relay.UPPER_TO_JBL, 'close')
+    #     relay.control(relay.UPPER_TO_ZD, 'close')
+    #     relay.control(relay.DOOR_LOWER_OPEN, 'close')
+    #     relay.control(relay.DOOR_LOWER_CLOSE, 'close')
+    #     relay.control(relay.DOOR_UPPER_OPEN, 'close')
+    #     relay.control(relay.DOOR_UPPER_CLOSE, 'close')
+    #     relay.control(relay.BREAK_ARCH_UPPER, 'close')
+    #     relay.control(relay.BREAK_ARCH_LOWER, 'close')
+
+    
+    # time.sleep(2)
+    # system._alignment_check_loop()
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+    # time.sleep(2)
+    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'close')
+
+    # time.sleep(2)
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
+    # time.sleep(2)
+    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
+    
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
+    # time.sleep(5)
+    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'close')
+    # system._visual_control_loop()
+    # system.transmitter_controller.test_upper_weight=2*2500
+    # system.transmitter_controller.test_lower_weight=1000
+    # system.state.vehicle_aligned=True   
+    #     # 启动调整线程
+    # weight_thread = threading.Thread(target=adjust_weights, args=(system,), daemon=True)
+   
+    # weight_thread.start()
+    # system.state._upper_door_position='over_lower'
+    # system._start_lower_feeding()
+    
+
+ 
+if __name__ == "__main__":
+    main()