stage_one

test_angle.py

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+# 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
+import sys
+import io
+
+
+class OutputRedirector(io.StringIO):
+    """
+    自定义输出重定向器，用于处理所有线程的输出
+    确保输入提示能在其他线程输出后重新显示，且保留用户当前输入
+    """
+    def __init__(self, original_stdout):
+        super().__init__()
+        self.original_stdout = original_stdout
+        self.input_prompt = "请输入新值："
+        self.input_thread_active = False
+        self.current_input = ""  # 跟踪用户当前输入
+        self.lock = threading.Lock()
+        
+    def write(self, text):
+        with self.lock:
+            # 写入原始输出
+            self.original_stdout.write(text)
+            self.original_stdout.flush()
+            
+            # 如果输入线程活跃，并且输出是换行符，重新显示输入提示和当前输入
+            if self.input_thread_active and '\n' in text:
+                # 清除当前行并重新显示输入提示和用户当前输入
+                self.original_stdout.write("\r" + " " * 100 + "\r")
+                self.original_stdout.write(f"{self.input_prompt}{self.current_input}")
+                self.original_stdout.flush()
+    
+    def flush(self):
+        with self.lock:
+            self.original_stdout.flush()
+
+
+def main():
+    # 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 = FeedingControlSystem()
+    # system.vision_detector.detect_angle()
+    # while True:
+    #     system.feeding_controller.pulse_control_door_for_maintaining()
+    #     time.sleep(5)
+
+    # 初始设置
+    system.state.vehicle_aligned=True
+    #假设在 fertilize room
+    system.state._upper_door_position='over_lower'
+    
+    # 创建输出重定向器
+    original_stdout = sys.stdout
+    output_redirector = OutputRedirector(original_stdout)
+    sys.stdout = output_redirector
+    
+    # 创建输入线程函数
+    def input_thread():
+        import sys
+        import threading
+        
+        # 初始提示只显示一次
+        initial_prompt = """
+ 输入线程启动提示
+ --------------------------
+ 可以随时输入新值来更新系统状态
+ 格式：需求重量,完成重量,溢出状态
+ 例如：500,300,大堆料 或 500,300,小堆料 或 500,300,未堆料
+ 输入'q'退出程序
+ --------------------------
+ """
+        print(initial_prompt)
+        
+        # 标记输入线程为活跃状态
+        output_redirector.input_thread_active = True
+        
+        while True:
+            try:
+                import termios
+                import tty
+                
+                # 获取当前终端设置
+                old_settings = termios.tcgetattr(sys.stdin)
+                try:
+                    tty.setcbreak(sys.stdin.fileno())  # 设置为cbreak模式，允许逐字符读取
+                    
+                    # 显示初始提示和当前输入
+                    sys.stdout.write("\r" + " " * 100 + "\r")
+                    sys.stdout.write(f"{output_redirector.input_prompt}{output_redirector.current_input}")
+                    sys.stdout.flush()
+                    
+                    while True:
+                        char = sys.stdin.read(1)  # 读取一个字符
+                        
+                        if char == '\x03':  # Ctrl+C
+                            raise KeyboardInterrupt
+                        elif char in ['\r', '\n']:  # 回车键
+                            sys.stdout.write("\n")
+                            sys.stdout.flush()
+                            break
+                        elif char == '\x7f':  # 退格键
+                            if len(output_redirector.current_input) > 0:
+                                output_redirector.current_input = output_redirector.current_input[:-1]
+                                # 从显示中删除最后一个字符
+                                sys.stdout.write("\b \b")
+                                sys.stdout.flush()
+                        else:
+                            output_redirector.current_input += char
+                            sys.stdout.write(char)
+                            sys.stdout.flush()
+                finally:
+                    # 恢复终端设置
+                    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings)
+                
+                # 获取最终输入并重置当前输入
+                user_input = output_redirector.current_input
+                output_redirector.current_input = ""  # 重置为下一次输入准备
+                
+                if user_input.lower() == 'q':
+                    print("\n收到退出信号，正在关闭系统...")
+                    output_redirector.input_thread_active = False
+                    system.stop()
+                    break
+                
+                # 分割输入值，处理不同参数数量
+                input_parts = [part.strip() for part in user_input.split(',')]
+                if len(input_parts) >= 2:
+                    # 更新基本参数
+                    system.state._mould_need_weight = float(input_parts[0])
+                    system.state._mould_finish_weight = float(input_parts[1])
+                    
+                    if system.state._mould_finish_weight>400:
+                        system.state.overflow_detected='大堆料'
+                  
+                    
+                    # 输出更新结果，使用换行符分隔
+                    update_msg = f"\n已更新：\n  需求重量 = {system.state._mould_need_weight} kg\n  完成重量 = {system.state._mould_finish_weight} kg"
+                    print(f"溢出状态 = {system.state.overflow_detected}")
+                    print(update_msg)
+                else:
+                    print("\n输入格式错误：至少需要输入需求重量和完成重量")
+                    
+            except ValueError as e:
+                print(f"\n输入格式错误，请重新输入。错误信息：{e}")
+            except Exception as e:
+                print(f"\n发生错误：{e}")
+                output_redirector.input_thread_active = False
+                break
+    
+    # 启动输入线程
+    input_thread = threading.Thread(target=input_thread, daemon=True)
+    input_thread.start()
+    system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
+    # 启动视觉控制
+    system.camera_controller.start_cameras()
+    system.start_visual_control()
+    
+    # 主线程保持运行
+    while True:
+        # print(f'当前重量22:{system.state._mould_finish_weight:.2f}kg, 目标重量:{system.state._mould_need_weight:.2f}kg')
+        time.sleep(1)
+
+
+if __name__ == "__main__":
+    main()