stage_one

test_visiton/vision/visual_callback.py

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+
+from config.settings import app_set_config
+from hardware.relay import RelayController
+import time
+import threading
+
+class VisualCallback:
+    # 类变量，用于存储实例引用，实现单例检测
+    _instance = None
+    _lock = threading.Lock()
+    
+    def __new__(cls):
+        """检测实例是否存在，实现单例模式"""
+        with cls._lock:
+            if cls._instance is None:
+                cls._instance = super().__new__(cls)
+        return cls._instance
+    
+    def __init__(self):
+        """初始化视觉回调处理器"""
+        # 避免重复初始化
+        if hasattr(self, '_initialized') and self._initialized:
+            return
+        
+        self.angle_mode = "normal"
+        self.relay_controller = RelayController()
+        self.init_weight = 100
+        self.mould_finish_weight = 0
+        self.mould_need_weight = 100
+        self.finish_count = 0
+        self.overflow = False
+        
+        # 线程安全的参数传递
+        self._current_angle = None
+        self._overflow_detected = None
+        self._new_data_available = threading.Event()
+        self._is_processing = threading.Lock()
+        self._stop_event = threading.Event()
+        
+        # 创建并启动单个持续运行的线程
+        self.callback_thread = threading.Thread(
+            target=self._run_thread_loop, 
+            daemon=True
+        )
+        self.callback_thread.start()
+        
+        self._initialized = True
+    
+    def angle_visual_callback(self, current_angle, overflow_detected):
+        """
+        视觉控制主逻辑，供外部推送数据
+        使用单个持续运行的线程，通过参数设置传递数据
+        如果线程正在处理数据，则丢弃此次推送
+        """
+        # 尝试获取处理锁，若失败则说明正在处理，丢弃数据
+        if not self._is_processing.acquire(blocking=False):
+            print("回调线程仍在执行，丢弃此次推送数据")
+            return
+        
+        try:
+            # 更新参数
+            self._current_angle = current_angle
+            self._overflow_detected = overflow_detected
+            # 通知线程有新数据可用
+            self._new_data_available.set()
+        finally:
+            # 释放处理锁
+            self._is_processing.release()
+
+
+    def _run_thread_loop(self):
+        """
+        线程主循环，持续运行
+        等待新数据，然后调用处理方法
+        """
+        while not self._stop_event.is_set():
+            # 等待新数据可用
+            self._new_data_available.wait()
+            
+            # 重置事件
+            self._new_data_available.clear()
+            
+            # 获取当前参数（使用临时变量避免被其他线程修改）
+            current_angle = self._current_angle
+            overflow_detected = self._overflow_detected
+            
+            # 处理数据
+            self._process_angle_callback(current_angle, overflow_detected)
+            time.sleep(0.1)
+    
+    def _process_angle_callback(self, current_angle, overflow_detected):
+        """
+        内部方法，实际处理视觉回调逻辑
+        在异步线程中执行
+        """
+        try:
+            # print('current_angle:', current_angle, 'overflow_detected:', overflow_detected)
+            # return
+            # 检测溢出状态
+            self.overflow = overflow_detected in ["大堆料", "小堆料"]          
+            if current_angle is None:
+                print("无法获取当前角度，跳过本次调整")
+                return
+            
+            print(f"当前角度: {current_angle:.2f}°")
+            
+            if overflow_detected != "浇筑满":
+                # 状态机控制逻辑
+                if self.angle_mode == "normal":
+                    # 正常模式大于app_set_config.angle_threshold=60度
+                    if self.overflow:
+                        self.angle_mode = "reducing"
+                    else:     
+                        # 保持正常开门
+                        print(f'当前重量:{self.mould_finish_weight:.2f}kg, 目标重量:{self.mould_need_weight:.2f}kg')
+                        if self.mould_need_weight > 0:
+                            if self.mould_finish_weight / self.mould_need_weight >= 0.8:
+                                print(f"完成重量占比{self.mould_finish_weight/self.mould_need_weight:.2f}，半开出砼门")
+                                # 半开出砼门
+                                if current_angle > app_set_config.target_angle:
+                                    # 角度已降至目标范围，关闭出砼门
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+                                    time.sleep(0.3)
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                                else:
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                                    time.sleep(0.32)
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                            else:
+                                # 全开砼门
+                                if current_angle > app_set_config.angle_threshold:
+                                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                        else:
+                            # 全开砼门
+                            if current_angle > app_set_config.angle_threshold:
+                                self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                            else:
+                                self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                elif self.angle_mode == "reducing":
+                    # 角度减小模式
+                    if self.overflow:
+                        if current_angle <= app_set_config.target_angle:
+                            # 角度已达到目标范围，仍有堆料，进入维持模式
+                            print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
+                            if current_angle <= app_set_config.min_angle:
+                                self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                                self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open') 
+                                time.sleep(0.1)
+                            self.angle_mode = "maintaining"
+                        else:
+                            self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                            self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+                    else:
+                        # 无堆料，恢复正常模式
+                        print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
+                        self.angle_mode = "normal"
+
+                elif self.angle_mode == "maintaining":
+                    # 维持模式 - 使用脉冲控制
+                    if not self.overflow:
+                        # 堆料已消除，恢复正常模式
+                        print("堆料已消除，恢复正常模式")
+                        self.angle_mode = "normal"
+                    else:
+                        # 继续维持角度控制
+                        print("进入维持模式")
+                        # 关门时间
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+                        time.sleep(0.2)
+                        # 开门时间
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')   
+                        time.sleep(0.25)
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')   
+                        
+                elif self.angle_mode == "recovery":
+                    # 恢复模式 - 逐步打开门
+                    if self.overflow:
+                        # 又出现堆料，回到角度减小模式
+                        print("恢复过程中又检测到堆料，回到角度减小模式")
+                        self.angle_mode = "maintaining"
+                    else:
+                        # 堆料已消除，恢复正常模式
+                        print("堆料已消除，恢复正常模式")
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                        self.angle_mode = "normal"
+            else:
+                # 浇筑满，关闭下料门
+                self.relay_controller.control_lower_close()
+        except Exception as e:
+            print(f"处理视觉回调时发生异常: {e}")
+        
+    
+    @classmethod
+    def instance_exists(cls):
+        """检测实例是否存在"""
+        return cls._instance is not None
+    
+    def shutdown(self):
+        """关闭线程，清理资源"""
+        # 设置停止事件
+        self._stop_event.set()
+        # 唤醒线程以便它能检测到停止事件
+        self._new_data_available.set()
+        # 等待线程结束
+        if self.callback_thread.is_alive():
+            self.callback_thread.join(timeout=1.0)
+
+# 创建默认实例
+visual_callback_instance = VisualCallback()
+
+# 兼容层，保持原来的函数调用方式可用
+def angle_visual_callback(current_angle, overflow_detected):
+    """
+    兼容旧版本的函数调用方式
+    将调用转发到默认实例的angle_visual_callback方法
+    """
+    visual_callback_instance.angle_visual_callback(current_angle, overflow_detected)