1228

busisness/blls.py

@@ -58,6 +58,22 @@ class ArtifactBll:
             "OptTime": datetime.now(),
         })
 
+    def insert_artifact_bycode(self,model: dict) -> bool:
+        
+        """根据模具编号插入管片任务"""
+        if self.dal.exists_by_module_code(model["MouldCode"]):
+            return False
+        return self.dal.insert_artifact({
+            "MouldCode": model["MouldCode"],
+            "SizeSpecification": model["SizeSpecification"],
+            "BlockNumber": model["BlockNumber"],
+            "BetonVolume": model["BetonVolume"],
+            "PStatus":1,
+            "Status": 2,
+            "Source": 2,
+            "OptTime": datetime.now(),
+        })
+
     def get_artifacting_task(self) -> ArtifactInfoModel:
             """获取正在进行的管片任务数据"""    
             loc_item= self.dal.get_top_artifact(1,"ID desc","Status=2")

busisness/dals.py

@@ -16,7 +16,7 @@ class BaseDal:
     def __init__(self) -> None:
         """初始化数据访问层，创建数据库连接"""
         # 假设数据库文件在db目录下
-        self.db_dao = SQLiteHandler.get_instance("db/three.db", max_readers=50, busy_timeout=4000)
+        self.db_dao = SQLiteHandler.get_instance("../db/three.db", max_readers=50, busy_timeout=4000)
 
 class ArtifactDal(BaseDal):
     def __init__(self):
@@ -97,6 +97,21 @@ class ArtifactDal(BaseDal):
         except Exception as e:
             print(f"根据ID获取构件任务失败: {e}")
             return False
+
+    def exists_by_module_code(self, module_code: str) -> bool:
+        """根据模具编号获取构件任务"""
+        try:
+            sql = "SELECT count(1)  FROM ArtifactTask WHERE MouldCode = ? and OptTime>?"
+            results = self.db_dao.execute_read(sql, (module_code,datetime.now().replace(hour=0, minute=0, second=0, microsecond=0)))
+            
+            rows = list(results)
+            if rows[0][0] == 1:
+                return True
+            
+            return False
+        except Exception as e:
+            print(f"根据ID获取构件任务失败: {e}")
+            return False
     
     def get_by_id(self, artifact_id: int) -> Optional[ArtifactInfoModel]:
         """根据构件ID获取构件任务"""

hardware/RFID/rfid_service.py

@@ -384,7 +384,7 @@ class rfid_service:
         接收线程的主循环，用于接收RFID推送的数据
         """          
         while self._thread_signal:
-            self._pause_receive=False
+            # self._pause_receive=False
             if self._pause_receive:
                 time.sleep(1)
                 continue  
@@ -409,11 +409,11 @@ class rfid_service:
                              
                         received_data += chunk
                         remaining_bytes -= len(chunk)
-                        print(f"[数据接收] 已接收 {len(received_data)}/{self._buffer_length} 字节")
+                        # print(f"[数据接收] 已接收 {len(received_data)}/{self._buffer_length} 字节")
                          
                     # 只有接收到完整的数据才算成功
                     if remaining_bytes == 0:
-                        print(f"[数据接收] 成功接收完整数据包 ({self._buffer_length} 字节)")
+                        # print(f"[数据接收] 成功接收完整数据包 ({self._buffer_length} 字节)")
                         data = received_data  # 保存完整的数据包
                         self._error_count=0
                     else:
@@ -443,13 +443,13 @@ class rfid_service:
                
                 if data:
                     loc_str = command_hex.parse_user_data_hex(data)
-                    raw_data = binascii.hexlify(data).decode()
-                    print(f"收到RFID推送数据: {raw_data}")
+                    # raw_data = binascii.hexlify(data).decode()
+                    # print(f"收到RFID推送数据: {raw_data}")
                     
                     # 保存到文件
-                    with open('rfid_data.log', 'a') as f:
-                        timestamp = datetime.now().strftime('%H:%M:%S.%f')[:-3]
-                        f.write(f"[{timestamp}] 解析数据: {loc_str}, 原始数据: {raw_data}\n")
+                    # with open('rfid_data.log', 'a') as f:
+                    #     timestamp = datetime.now().strftime('%H:%M:%S.%f')[:-3]
+                    #     f.write(f"[{timestamp}] 解析数据: {loc_str}, 原始数据: {raw_data}\n")
 
                     if loc_str:
                         # 将数据添加到缓冲区
@@ -514,6 +514,7 @@ class rfid_service:
         """
         停止接收RFID推送的数据
         """
+        print('RFID 线程停止')
         self._thread_signal = False
         if self._receive_thread:
             self._receive_thread.join(timeout=2.0)

hardware/relay.py

@@ -73,7 +73,7 @@ class RelayController:
                 sock.connect((self.host, self.port))
                 sock.send(byte_data)
                 response = sock.recv(1024)
-                print(f"收到继电器响应: {binascii.hexlify(response)}")
+                # print(f"收到继电器响应: {binascii.hexlify(response)}")
                 return response
         except Exception as e:
             print(f"继电器通信错误: {e}")
@@ -97,7 +97,7 @@ class RelayController:
     def control(self, device, action):
         """控制继电器"""
         if device in self.relay_commands and action in self.relay_commands[device]:
-            print(f"发送控制继电器命令 {device} {action}")
+            # print(f"发送控制继电器命令 {device} {action}")
             self.send_command(self.relay_commands[device][action])
         else:
             print(f"无效设备或动作: {device}, {action}")
@@ -109,6 +109,13 @@ class RelayController:
         self.control(self.DOOR_UPPER_CLOSE, 'open')
         # 异步5秒后关闭
         threading.Thread(target=self._close_upper_s, daemon=True,name="close_upper_s").start()
+
+    def control_upper_close_after(self):
+        """控制上料斗关在几秒后"""
+         # 关闭上料斗出砼门
+        self.control(self.DOOR_UPPER_OPEN, 'close')
+        # 异步5秒后关闭
+        threading.Thread(target=self._close_upper_after_s, daemon=True,name="close_upper_after_s").start()
     
     def control_upper_close_sync(self,duration=5):
         self.control(self.DOOR_UPPER_OPEN, 'close')
@@ -224,6 +231,24 @@ class RelayController:
             self.control(self.DOOR_UPPER_CLOSE, 'close')
             print("上料斗关闭完成")
 
+    def _close_upper_after_s(self):
+        """
+            异步5秒后关闭上料斗20秒
+        """
+        
+        # time.sleep(5)
+        self.control_arch_upper_open_sync(5)
+        self.control(self.DOOR_UPPER_CLOSE, 'open')
+        time.sleep(1)
+        self.control(self.DOOR_UPPER_CLOSE, 'close')
+        self.control_arch_upper_open_sync(5)
+        self.control_arch_upper_open_sync(5)
+        self.control_arch_upper_open_async(8)
+        self.control(self.DOOR_UPPER_CLOSE, 'open')
+        time.sleep(20)
+        self.control(self.DOOR_UPPER_CLOSE, 'close')
+        print("上料斗关闭完成")
+
     def _close_lower_5s(self):
             time.sleep(6)
             self.control(self.DOOR_LOWER_CLOSE, 'close')
@@ -238,19 +263,40 @@ class RelayController:
         self.control(self.BREAK_ARCH_LOWER, 'open')
         # 异步5秒后关闭
         threading.Thread(target=self._close_break_arch_lower, daemon=True,name="_close_break_arch_lower").start()
+    
+    def control_arch_lower_open_sync(self,duration):
+        """控制下料斗振动"""
+        self.control(self.BREAK_ARCH_LOWER, 'open')
+        # 异步5秒后关闭
+        time.sleep(duration)
+        self.control(self.BREAK_ARCH_LOWER, 'close')
+
+    def control_arch_upper_open_sync(self,duration):
+        """控制下料斗振动"""
+        self.control(self.BREAK_ARCH_UPPER, 'open')
+        # 异步5秒后关闭
+        time.sleep(duration)
+        self.control(self.BREAK_ARCH_UPPER, 'close')
+
     def _close_break_arch_lower(self):
             time.sleep(3)
             self.control(self.BREAK_ARCH_LOWER, 'close')
 
     
-    def control_arch_upper_open(self):
-        """控制上料斗关"""
+    def control_arch_upper_open_async(self,delay_seconds: float = 15):
+        """异步控制上料斗振动
+        
+        Args:
+            delay_seconds: 延迟关闭时间（秒），默认15秒
+        """
         # 关闭下料斗出砼门
         self.control(self.BREAK_ARCH_UPPER, 'open')
         # 异步5秒后关闭
-        threading.Thread(target=self._close_break_arch_upper, daemon=True,name="_close_break_arch_upper").start()
-    def _close_break_arch_upper(self):
-            time.sleep(3)
+        threading.Thread(target=lambda d: self._close_break_arch_upper(delay_seconds),args=(delay_seconds,), daemon=True, name="_close_break_arch_upper").start()
+
+    def _close_break_arch_upper(self, delay_seconds: float = 15):
+            time.sleep(delay_seconds)
+            print(f"上料斗振动关闭完成，延迟{delay_seconds}秒")
             self.control(self.BREAK_ARCH_UPPER, 'close')
 
     

hardware/transmitter.py

@@ -80,7 +80,7 @@ class TransmitterController:
             self.relay_controller.modbus_client.close()
 
     # 直接读取 变送器返回的数据并解析
-    def read_data_normal(self, transmitter_id):
+    def read_data_sub(self, transmitter_id):
         
         """
             Args: transmitter_id 为1 表示上料斗, 为2 表示下料斗
@@ -90,7 +90,7 @@ class TransmitterController:
         BUFFER_SIZE= 1024
         IP = None
         PORT = None
-        weight = 0  
+        weight = None  
         if transmitter_id == 1:
             # 上料斗变送器的信息：
             IP = ini_manager.upper_transmitter_ip
@@ -102,7 +102,7 @@ class TransmitterController:
             
         if not IP or not PORT:
             print(f"未配置变送器 {transmitter_id} 的IP或PORT")
-            return 0
+            return None
         with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
             try:
                 s.settimeout(TIMEOUT)
@@ -134,7 +134,7 @@ class TransmitterController:
         # 成功返回重量（int），失败返回None
         return weight 
 
-    def read_data(self, transmitter_id):
+    def read_data_sub_test(self, transmitter_id):
         
         """
         测试用：模拟读取变送器数据mock
@@ -266,4 +266,16 @@ class TransmitterController:
         except (IndexError, ValueError, UnicodeDecodeError) as e:
             # print(f"数据解析失败：{e}，原始数据包：{packet_data}")
             return None
-    
+    
+    def read_data(self,transmitter_id):
+        """获取重量函数：根据变送器ID获取当前重量,三次"""
+        max_try_times=5
+        try_times=0
+        while try_times<max_try_times:
+            weight=self.read_data_sub(transmitter_id)
+            if weight is not None:
+                return weight
+            try_times+=1
+        print(f'-----获取重量异常-------------- transmitter_id: {transmitter_id}')
+        print(f'-----获取重量异常-------------- transmitter_id: {transmitter_id}')
+        return None

test_dal_debug.py

@@ -0,0 +1,31 @@
+from busisness.dals import ArtifactDal
+
+# 测试 exists_by_module_code 方法
+dal = ArtifactDal()
+
+# 测试1: 不存在的模具编号
+print("=== 测试1: 不存在的模具编号 ===")
+result = dal.exists_by_module_code("不存在的模具编号")
+print(f"结果: {result}")
+print()
+
+# 测试2: 存在的模具编号（如果有数据的话）
+print("=== 测试2: 存在的模具编号 ===")
+result = dal.exists_by_module_code("TEST001")
+print(f"结果: {result}")
+print()
+
+# 测试3: 直接查询数据库验证
+print("=== 测试3: 直接SQL查询验证 ===")
+db_dao = dal.db_dao
+sql = "SELECT count(1) as cnt FROM ArtifactTask WHERE MouldCode = ?"
+results = db_dao.execute_read(sql, ("不存在的模具编号",))
+print(f"查询结果类型: {type(results)}")
+print(f"查询结果: {results}")
+rows = list(results)
+print(f"rows: {rows}")
+if rows:
+    print(f"rows[0]: {rows[0]}")
+    print(f"rows[0][0]: {rows[0][0]}")
+else:
+    print("rows为空列表")

test_weight.py

@@ -1,16 +1,10 @@
 # main.py
 import time
 from datetime import datetime
-from config.settings import app_set_config
-from core.system import FeedingControlSystem
 from hardware import relay
 from hardware.relay import RelayController
 from hardware.transmitter import TransmitterController
-import threading
 import time
-import cv2
-import os
-from core.state import FeedStatus
 
 
 def main():

tests/test_rfid.py

@@ -6,25 +6,55 @@ import os
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 import time
 from hardware.RFID.rfid_service import rfid_service
+from busisness.blls import ArtifactBll
+from busisness.models import ArtifactInfoModel
 
 
-
-def test_data_callback(status,raw_data):
+rfid=None
+rfid_before_mould=''
+artifact_bll=ArtifactBll()
+def test_data_callback(status,data):
     """
     测试用的数据接收回调函数
     """
-    if status:
-        print(f"[回调] 收到RFID数据: {raw_data}")
-    else:
-        print(f"[回调] 读取RFID数据为空或失败")
+    global rfid_before_mould
+    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.strip(',').split(',')
+                if len(loc_array)==4:
+                    if rfid_before_mould!=loc_array[0]:
+                        model={
+                        'MouldCode':loc_array[0],
+                        'BlockNumber':loc_array[1],
+                        'SizeSpecification':loc_array[2],
+                        'BetonVolume':loc_array[3]
+                        }
+                        artifact_bll.insert_artifact_bycode(model)
+                        rfid_before_mould=loc_array[0]
+                        print(f"RFID-生产模具车号:{loc_array[0]}")
+                    else:
+                        print(f"RFID-重复生产模具车号:{loc_array[0]}")
+                     
+                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}")
 
 
 def test_rfid_functions():
     """
     测试RFIDHardware的主要功能
     """
+    global rfid
     # 初始化RFID控制器
-    rfid = rfid_service(host='192.168.250.77', port=6000)
+    rfid = rfid_service(host='192.168.250.67', port=6000)
     
     # print("=== RFID硬件测试开始 ===")
     
@@ -96,21 +126,38 @@ def test_rfid_functions():
         # rfid._data_buffer.append('THR B1-12,B1,6600 * 1500,1.900')
         # rfid._data_buffer.append('THR B1-12,B1,6600 * 1500,1.900')
         # rfid._process_collected_data()
-        rfid.start_receiver(callback=test_data_callback)
+        rfid.start_receiver(callback=test_data_callback)    
+        while True:
+            rfid._pause_receive = False      
+            time.sleep(10)
+
+       
         # print("接收线程已启动，等待接收数据...")
         # 等待5秒模拟接收过程1111111111111
         time.sleep(60*60)
     finally:
         # 确保停止接收线程
-        # rfid.stop_receiver()
+        rfid.stop_receiver()
     
-     print("\n=== RFID硬件测试结束 ===")
+    #  print("\n=== RFID硬件测试结束 ===")
 
 
 if __name__ == "__main__":
     try:
+        # model={  
+        # 'ArtifactID':0,
+        # 'MouldCode':'SHR2B1-4',
+        # 'BlockNumber':'B2',
+        # 'SizeSpecification':'6600*1500',
+        # 'BetonVolume':1.910
+        # }
+        # artifact_bll.insert_artifact_bycode(model)
         test_rfid_functions()
     except KeyboardInterrupt:
+        if rfid is not None:
+            rfid.stop_receiver()
         print("\n测试被用户中断")
     except Exception as e:
+        if rfid is not None:
+            rfid.stop_receiver()
         print(f"测试过程中发生错误: {e}")

vision/muju_cls/main.py

@@ -0,0 +1,120 @@
+import os
+import cv2
+from rknnlite.api import RKNNLite
+
+# classify_single_image, StableClassJudge, CLASS_NAMES 已在 muju_cls_rknn 中定义
+from muju_cls_rknn import classify_single_image, StableClassJudge, CLASS_NAMES
+
+
+def run_stable_classification_loop(
+    model_path,
+    roi_file,
+    image_source,
+    stable_frames=3,
+    display_scale=0.5,      # 显示缩放比例（0.5 = 显示为原来 50%）
+    show_window=False        # 是否显示窗口
+):
+    """
+    image_source: cv2.VideoCapture 对象
+    """
+
+    judge = StableClassJudge(
+        stable_frames=stable_frames,
+        ignore_class=2  # 忽略“有遮挡”类别参与稳定判断
+    )
+
+    cap = image_source
+    if not hasattr(cap, "read"):
+        raise TypeError("image_source 必须是 cv2.VideoCapture 实例")
+
+    # 可选：创建可缩放窗口
+    if show_window:
+        cv2.namedWindow("RTSP Stream - Press 'q' to quit", cv2.WINDOW_NORMAL)
+
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            print("无法读取视频帧（可能是流断开或结束）")
+            break
+
+        # 上下左右翻转
+        frame = cv2.flip(frame, -1)
+
+        # ---------------------------
+        # 单帧推理
+        # ---------------------------
+        result = classify_single_image(frame, model_path, roi_file)
+
+        class_id = result["class_id"]
+        class_name = result["class"]
+        score = result["score"]
+
+        print(f"[FRAME] {class_name} | conf={score:.3f}")
+
+        # ---------------------------
+        # 稳定判断
+        # ---------------------------
+        stable_class_id = judge.update(class_id)
+
+        if stable_class_id is not None:
+            print(f"\n稳定输出: {CLASS_NAMES[stable_class_id]}\n")
+
+        # ---------------------------
+        # 显示画面（缩小窗口）
+        # ---------------------------
+        if show_window:
+            h, w = frame.shape[:2]
+            display_frame = cv2.resize(
+                frame,
+                (int(w * display_scale), int(h * display_scale)),
+                interpolation=cv2.INTER_AREA
+            )
+
+            cv2.imshow("RTSP Stream - Press 'q' to quit", display_frame)
+
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    # ---------------------------
+    # 配置参数
+    # ---------------------------
+    MODEL_PATH = "muju_cls.rknn"
+    ROI_FILE = "./roi_coordinates/muju_roi.txt"
+    RTSP_URL = "rtsp://admin:XJ123456@192.168.250.61:554/streaming/channels/101"
+
+    STABLE_FRAMES = 3
+    DISPLAY_SCALE = 0.5     # 显示窗口缩放比例
+    SHOW_WINDOW = False      # 部署时改成 False，测试的时候打开
+
+    # ---------------------------
+    # 打开 RTSP 视频流
+    # ---------------------------
+    print(f"正在连接 RTSP 流: {RTSP_URL}")
+    cap = cv2.VideoCapture(RTSP_URL)
+
+    # 降低 RTSP 延迟（部分摄像头支持）
+    cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+    if not cap.isOpened():
+        print("无法打开 RTSP 流，请检查网络、账号密码或 URL")
+        exit(1)
+
+    print("RTSP 流连接成功，开始推理...")
+
+    # ---------------------------
+    # 启动稳定分类循环三帧稳定判断
+    # ---------------------------
+    run_stable_classification_loop(
+        model_path=MODEL_PATH,
+        roi_file=ROI_FILE,
+        image_source=cap,
+        stable_frames=STABLE_FRAMES,
+        display_scale=DISPLAY_SCALE,
+        show_window=SHOW_WINDOW
+    )
+

vision/muju_cls/muju_cls_rknn.py

@@ -0,0 +1,282 @@
+import os
+import cv2
+import numpy as np
+from rknnlite.api import RKNNLite
+
+from collections import deque
+
+class StableClassJudge:
+    """
+    连续三帧稳定判决器：
+    - class0 / class1 连续 3 帧 -> 输出
+    - class2 -> 清空计数，重新统计
+    """
+
+    def __init__(self, stable_frames=3, ignore_class=2):
+        self.stable_frames = stable_frames
+        self.ignore_class = ignore_class
+        self.buffer = deque(maxlen=stable_frames)
+
+    def reset(self):
+        self.buffer.clear()
+
+    def update(self, class_id):
+        """
+        输入单帧分类结果
+        返回：
+          - None：尚未稳定
+          - class_id：稳定输出结果
+        """
+
+        # 遇到 class2，直接清空重新计数
+        if class_id == self.ignore_class:
+            self.reset()
+            return None
+
+        self.buffer.append(class_id)
+
+        # 缓冲未满
+        if len(self.buffer) < self.stable_frames:
+            return None
+
+        # 三帧完全一致
+        if len(set(self.buffer)) == 1:
+            stable_class = self.buffer[0]
+            self.reset()   # 输出一次后重新计数（防止重复触发）
+            return stable_class
+
+        return None
+
+# ---------------------------
+# 三分类映射，模具车1是小的，模具车2是大的
+# ---------------------------
+CLASS_NAMES = {
+    0: "模具车1",
+    1: "模具车2",
+    2: "有遮挡"
+}
+
+# ---------------------------
+# RKNN 全局实例（只加载一次）
+# ---------------------------
+_global_rknn = None
+
+
+def init_rknn_model(model_path):
+    global _global_rknn
+    if _global_rknn is not None:
+        return _global_rknn
+
+    rknn = RKNNLite(verbose=False)
+    ret = rknn.load_rknn(model_path)
+    if ret != 0:
+        raise RuntimeError(f"Load RKNN failed: {ret}")
+
+    ret = rknn.init_runtime(core_mask=RKNNLite.NPU_CORE_0)
+    if ret != 0:
+        raise RuntimeError(f"Init runtime failed: {ret}")
+
+    _global_rknn = rknn
+    print(f"[INFO] RKNN 模型加载成功: {model_path}")
+    return rknn
+
+
+# ---------------------------
+# 预处理
+# ---------------------------
+def letterbox(image, new_size=640, color=(114, 114, 114)):
+    h, w = image.shape[:2]
+    scale = min(new_size / h, new_size / w)
+    nh, nw = int(h * scale), int(w * scale)
+    resized = cv2.resize(image, (nw, nh))
+    new_img = np.full((new_size, new_size, 3), color, dtype=np.uint8)
+    top = (new_size - nh) // 2
+    left = (new_size - nw) // 2
+    new_img[top:top + nh, left:left + nw] = resized
+    return new_img
+
+
+def resize_stretch(image, size=640):
+    return cv2.resize(image, (size, size))
+
+
+def preprocess_image_for_rknn(
+        img,
+        size=640,
+        resize_mode="stretch",
+        to_rgb=True,
+        normalize=False,
+        layout="NHWC"
+):
+    if resize_mode == "letterbox":
+        img_box = letterbox(img, new_size=size)
+    else:
+        img_box = resize_stretch(img, size=size)
+
+    if to_rgb:
+        img_box = cv2.cvtColor(img_box, cv2.COLOR_BGR2RGB)
+
+    img_f = img_box.astype(np.float32)
+
+    if normalize:
+        img_f /= 255.0
+
+    if layout == "NHWC":
+        out = np.expand_dims(img_f, axis=0)
+    else:
+        out = np.expand_dims(np.transpose(img_f, (2, 0, 1)), axis=0)
+
+    return np.ascontiguousarray(out)
+
+
+# ---------------------------
+# 单次 RKNN 推理（三分类）
+# ---------------------------
+def rknn_classify_preprocessed(input_tensor, model_path):
+    rknn = init_rknn_model(model_path)
+
+    input_tensor = np.ascontiguousarray(input_tensor.astype(np.float32))
+    outs = rknn.inference([input_tensor])
+
+    pred = outs[0].reshape(-1).astype(float)  # shape = (3,)
+    class_id = int(np.argmax(pred))
+
+    return class_id, pred
+
+# ---------------------------
+# ROI
+# ---------------------------
+def load_single_roi(txt_path):
+    if not os.path.exists(txt_path):
+        raise RuntimeError(f"ROI 文件不存在: {txt_path}")
+
+    with open(txt_path) as f:
+        for line in f:
+            s = line.strip()
+            if not s:
+                continue
+            x, y, w, h = map(int, s.split(','))
+            return (x, y, w, h)
+
+    raise RuntimeError("ROI 文件为空")
+
+
+def crop_and_return_roi(img, roi):
+    x, y, w, h = roi
+    h_img, w_img = img.shape[:2]
+
+    if x < 0 or y < 0 or x + w > w_img or y + h > h_img:
+        raise RuntimeError(f"ROI 超出图像范围: {roi}")
+
+    return img[y:y + h, x:x + w]
+
+
+# ---------------------------
+# 单张图片推理（三分类）
+# ---------------------------
+def classify_single_image(
+        frame,
+        model_path,
+        roi_file,
+        size=640,
+        resize_mode="stretch",
+        to_rgb=True,
+        normalize=False,
+        layout="NHWC"
+):
+    if frame is None:
+        raise FileNotFoundError("输入帧为空")
+
+    roi = load_single_roi(roi_file)
+    roi_img = crop_and_return_roi(frame, roi)
+
+    input_tensor = preprocess_image_for_rknn(
+        roi_img,
+        size=size,
+        resize_mode=resize_mode,
+        to_rgb=to_rgb,
+        normalize=normalize,
+        layout=layout
+    )
+
+    class_id, probs = rknn_classify_preprocessed(input_tensor, model_path)
+    class_name = CLASS_NAMES.get(class_id, f"未知类别({class_id})")
+
+    return {
+        "class_id": class_id,
+        "class": class_name,
+        "score": round(float(probs[class_id]), 4),
+        "raw": probs.tolist()
+    }
+
+
+
+# ---------------------------
+# 示例调用
+# ---------------------------
+if __name__ == "__main__":
+    model_path = "muju_cls.rknn"
+    roi_file = "./roi_coordinates/muju_roi.txt"
+    image_path = "./test_image/test.png"
+
+    frame = cv2.imread(image_path)
+    if frame is None:
+        raise FileNotFoundError(f"无法读取图片: {image_path}")
+
+    result = classify_single_image(frame, model_path, roi_file)
+    print("[RESULT]", result)
+
+# ---------------------------
+# 示例判断逻辑
+'''
+import cv2
+from muju_cls_rknn import classify_single_image,StableClassJudge,CLASS_NAMES
+
+def run_stable_classification_loop(
+        model_path,
+        roi_file,
+        image_source,
+        stable_frames=3
+):
+    """
+    image_source:
+      - cv2.VideoCapture
+    """
+    judge = StableClassJudge(
+        stable_frames=stable_frames,
+        ignore_class=2   # 有遮挡
+    )
+    
+    cap = image_source
+    if not hasattr(cap, "read"):
+        raise TypeError("image_source 必须是 cv2.VideoCapture")
+
+    while True:
+        ret, frame = cap.read()
+        # 上下左右翻转
+        frame = cv2.flip(frame, -1)
+        
+        if not ret:
+            print("读取帧失败，退出")
+            break
+
+        result = classify_single_image(frame, model_path, roi_file)
+
+        class_id = result["class_id"]
+        class_name = result["class"]
+        score = result["score"]
+
+        print(f"[FRAME] {class_name}  conf={score}")
+
+        stable = judge.update(class_id)
+
+        if stable is not None:
+            print(f"\n稳定输出: {CLASS_NAMES[stable]} \n")
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+'''
+# ---------------------------

vision/muju_cls/muju_utils.py

@@ -0,0 +1,87 @@
+import os
+import cv2
+from rknnlite.api import RKNNLite
+import time
+
+# classify_single_image, StableClassJudge, CLASS_NAMES 已在 muju_cls_rknn 中定义
+from .muju_cls_rknn import classify_single_image, StableClassJudge, CLASS_NAMES
+
+# 获取当前文件所在目录的绝对路径
+current_dir = os.path.dirname(os.path.abspath(__file__))
+def run_stable_classification_loop():
+    """
+    image_source: cv2.VideoCapture 对象
+    """
+    _ret=None
+    # 使用相对于当前文件的绝对路径
+    model_path = os.path.join(current_dir, "muju_cls.rknn")
+    roi_file = os.path.join(current_dir, "roi_coordinates", "muju_roi.txt")
+    RTSP_URL = "rtsp://admin:XJ123456@192.168.250.61:554/streaming/channels/101"
+    stable_frames=3
+    print(f"正在连接 RTSP 流: {RTSP_URL}")
+    cap =None
+    try:
+        cap = cv2.VideoCapture(RTSP_URL)
+        # 降低 RTSP 延迟（部分摄像头支持）
+        cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+        if not cap.isOpened():
+            print("无法打开 RTSP 流，请检查网络、账号密码或 URL")
+            return None
+
+        print("RTSP 流连接成功，开始推理...")
+
+        judge = StableClassJudge(
+            stable_frames=stable_frames,
+            ignore_class=2  # 忽略“有遮挡”类别参与稳定判断
+        )
+
+        if not hasattr(cap, "read"):
+            raise TypeError("image_source 必须是 cv2.VideoCapture 实例")
+        _max_count=10
+        while True:
+            _max_count=_max_count-1
+
+            ret, frame = cap.read()
+            if not ret:
+                print("无法读取视频帧（可能是流断开或结束）")
+                continue
+            # 上下左右翻转
+            frame = cv2.flip(frame, -1)
+
+            # ---------------------------
+            # 单帧推理
+            # ---------------------------
+            result = classify_single_image(frame, model_path, roi_file)
+
+            class_id = result["class_id"]
+            class_name = result["class"]
+            score = result["score"]
+
+            print(f"[FRAME] {class_name} | conf={score:.3f}")
+
+            # ---------------------------
+            # 稳定判断
+            # ---------------------------
+            stable_class_id = judge.update(class_id)
+
+            if stable_class_id is not None:
+                _ret=CLASS_NAMES[stable_class_id]
+                if _ret is None:
+                    print("-------当前类别为：为空，继续等待稳定------")
+                    continue
+                if _ret=="模具车1" or _ret=="模具车2":
+                    break
+                print(f"当前类别为：{_ret}，继续等待稳定...")
+            else:
+                print("当前类别为：为空，继续等待稳定...")
+            
+            time.sleep(0.1)
+    finally:
+        if cap is not None:
+            cap.release()
+    return _ret
+     
+
+ 
+

vision/muju_cls/roi_coordinates/muju_roi.txt

@@ -0,0 +1 @@
+2,880,385,200

vision/roi_coordinates/muju_roi.txt

@@ -0,0 +1 @@
+2,880,385,200

vision/visual_callback.py

@@ -6,7 +6,9 @@ from hardware.transmitter import TransmitterController
 import time
 import threading
 from datetime import datetime
+import logging
 from hardware.upper_plc import OmronFinsPollingService
+from vision.muju_cls.muju_utils import run_stable_classification_loop
 
 class VisualCallback:
     # 类变量，用于存储实例引用，实现单例检测
@@ -26,19 +28,10 @@ class VisualCallback:
         if hasattr(self, '_initialized') and self._initialized:
             return
         
-        self.angle_mode = "normal"
         self.relay_controller = RelayController()
         self.transmitter_controller = TransmitterController(self.relay_controller)
-        self.init_weight = 100
-        self.mould_finish_weight = 0
-        self.mould_need_weight = 100
-        self.finish_count = 0
-        self.overflow = False
-        self.is_start_visual=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()
@@ -47,43 +40,91 @@ class VisualCallback:
         self._door_control_lock = threading.Lock()
         # 记录当前控制门的线程名称，用于调试
         self._current_controlling_thread = None
-        # 新增标志位：指示safe_control_lower_close是否正在执行
-        self._is_safe_closing = False
-
-        self._is_feed_start=True
+        #是否启动后的第一个模具
+        self._is_first_module=True
+        self.init_val()
+        # self._setup_logging_2()
+        #F块完成重量的70%，控制夹脚，F块多于这个比例就没有记录了（注意）
+        self._max_f_angle_ratio=0.7
+        #完成多少，调整角度比例 ，多于0.8就没记录了（注意）
+        self._max_angle_radio=0.8
+        #完成多少，忽略未浇筑满
+        self._max_ignore_radio=0.5
         
-        # 创建并启动单个持续运行的线程
+        # self.plc_data=5
+        self.plc_service = OmronFinsPollingService("192.168.250.233") 
+        self.plc_service.register_data_callback(self.on_plc_update)
+        # self.plc_service.register_status_callback(self.on_status_change)
+        self.plc_service.start_polling(interval=2.0)
+
+         # 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.feed_thread = threading.Thread(
             target=self._run_feed, 
             daemon=True
         )
         self.feed_thread.start()
+
+        """启动系统监控"""
+        self.monitor_thread = threading.Thread(
+            target=self._monitor_loop,
+            daemon=True,
+            name='monitor'
+        )
+        self.monitor_thread.start()
+    
+    def init_val(self):
+         #初始化值
+        """初始化视觉回调处理器"""
+        self.angle_mode = "normal"
+        self.overflow = False
+        self.is_start_visual=False
         
+        # 线程安全的参数传递
+        self._current_angle = None
+        self._overflow_detected = None
+        # 新增标志位：指示safe_control_lower_close是否正在执行
+        self._is_safe_closing = False
+
+        self._is_feed_start=True
+        #未浇筑满时间，用于确定是否进入未浇筑满
         self._before_finish_time=None
+        #进入未浇筑满状态标志位
         self._is_before_finish=False
+        #是否浇筑满标志位
         self._is_finish=False
-        # self._is_finish_ratio=0
-        #是否震荡关闭平面（设想90%后关闭几秒，让液面平整）
-        # self._is_zd_close=False
+        #浇筑完成比例（重量）
+        self._is_finish_ratio=0
+
+        #下料阶段，汇总时用枚举
+        self._is_feed_stage=0
+        #振动相关参数
+        self._last_arch_one_weight=0
+        self._last_arch_two_weight=0
+        self._last_arch_three_weight=0
+        self._last_arch_four_weight=0
+        self._last_arch_five_weight=0
+        self._last_arch_time=0
+        #是否为F块
+        self._is_small_f=None
+        #采集数据用，下料重量=之前下的重量+最后一阶段(下-->模具车)重量差
+        #记录最后一次下料斗到模具车前的重量
+        self._finish_weight=0
+        #记录最后一次下料斗到车初始重量
+        self._inital_finish_lweight=0
 
         # 初始化控制间隔和堆料状态跟踪属性
         self._last_overflow_state = False
         self._last_control_time = 0
         self._initialized = True
         self.plc_data=None
-        # self.plc_data=5
-        self.plc_service = OmronFinsPollingService("192.168.250.233") 
-        self.plc_service.register_data_callback(self.on_plc_update)
-        # self.plc_service.register_status_callback(self.on_status_change)
-        self.plc_service.start_polling(interval=2.0)
-      
+
+  
     def angle_visual_callback(self, current_angle, overflow_detected):
         """
         视觉控制主逻辑，供外部推送数据
@@ -111,8 +152,67 @@ class VisualCallback:
             # 释放处理锁
             self._is_processing.release()
 
+    def _monitor_loop(self):
+        """监控循环"""
+        while not  self._is_finish:
+            try:
+                current_time = time.time()           
+                # 检查下料斗破拱（只有在下料过程中才检查）
+                if self._is_feed_stage==1:  # 下料斗--》模具车
+                    _arch_weight = self.transmitter_controller.read_data(2)
+                    if _arch_weight is not None and _arch_weight>0:
+                        # 检查重量变化是否过慢
+                        if (abs(_arch_weight - self._last_arch_one_weight) < 200) and \
+                                (current_time - self._last_arch_time) >= 2:
+                            print('---------------------第一阶段振动5秒-----------------')
+                            self.relay_controller.control_arch_lower_open_sync(5)
+                        self._last_arch_one_weight = _arch_weight
+                elif self._is_feed_stage==2:    #上料斗到下料斗，料多，谨慎振动
+                    _arch_weight = self.transmitter_controller.read_data(1)
+                    if _arch_weight is not None:
+                        # 检查重量变化是否过慢
+                        # if (abs(_arch_weight - self._last_arch_two_weight) < 50) and \
+                        #         (current_time - self._last_arch_time) >= 2:
+                            # self.relay_controller.control_arch_upper_open_sync(3)
+                        self._last_arch_two_weight = _arch_weight
+                elif self._is_feed_stage==3:    #第二次下料斗-》模具车
+                    _arch_weight = self.transmitter_controller.read_data(2)
+                    if _arch_weight is not None:
+                        # 检查重量变化是否过慢
+                         
+                        if (abs(_arch_weight - self._last_arch_three_weight) < 100) and \
+                                (current_time - self._last_arch_time) >= 2:
+                            print('---------------------第三阶段振动5秒-----------------')
+                            self.relay_controller.control_arch_lower_open_sync(3)
+                        self._last_arch_three_weight = _arch_weight
+                elif self._is_feed_stage==4:    #上料斗--》下料斗
+                    _arch_weight = self.transmitter_controller.read_data(1)
+                    if _arch_weight is not None:
+                        # 检查重量变化是否过慢
+                        # if (abs(_arch_weight - self._last_arch_four_weight) < 200) and \
+                        #         (current_time - self._last_arch_time) > 2:
+                            # self.relay_controller.control_arch_upper_open_sync(5)
+                        self._last_arch_four_weight = _arch_weight
+                elif self._is_feed_stage==5:    #下料斗->模具车
+                    _arch_weight = self.transmitter_controller.read_data(2)
+                    if _arch_weight is not None:
+                        _min_arch_weight=20
+                        if self._is_finish_ratio<self._max_angle_radio:
+                            _min_arch_weight=50                  
+                        if (abs(_arch_weight - self._last_arch_five_weight) < _min_arch_weight) and \
+                                (current_time - self._last_arch_time) >= 2:
+                            print('---------------------第五阶段振动5秒-----------------')
+                            self.relay_controller.control_arch_lower_open_sync(5)
+                        self._last_arch_five_weight = _arch_weight
+                # 更新最后读取时间
+                self._last_arch_time = current_time
+                time.sleep(2)
+            except Exception as e:
+                print(f"监控线程错误: {e}")
+
     def _run_thread_loop(self):
         """
+        接受视觉回调数据
         线程主循环，持续运行
         等待新数据，然后调用处理方法
         """
@@ -138,14 +238,25 @@ class VisualCallback:
         while True:
             print("------------已启动----------------")
             if self._is_feed_start:
-                if self.plc_data==5:
-                    self.run_feed()
-                    break
-                else:
-                    print("-----------上料斗未就位----------------")
-                    print("-----------上料斗未就位----------------")
+                
+                # if self.plc_data==5:
+                #_is_finish_ratio完成 比例，根据重量过滤一下
+               if self._overflow_detected=='未堆料':  
+                    if self._is_first_module:
+                        print('------------进入第一块111111-------------')
+                        self._is_first_module=False
+                        self.run_feed_all()
+                        break
+                    elif self._is_finish and self._is_finish_ratio>=0.7:
+                        print('-----------进入连续块111111-----------')
+                        # self.init_val()
+                        # self.run_feed_all()
+               
+                # else:
+                #     print("-----------上料斗未就位----------------")
+                #     print("---------3--上料斗未就位----------------")
               
-            time.sleep(0.5)
+            time.sleep(2)
 
     def safe_control_lower_close(self,duration=3):
                 """线程安全的下料斗关闭方法"""
@@ -167,154 +278,294 @@ class VisualCallback:
                     # 无论成功失败，都要重置标志位
                     self._is_safe_closing = False
     
+    def close_lower_door_visual(self):
+        """关闭下料斗门"""
+        self.is_start_visual=False
+        time.sleep(0.5)                
+        self.safe_control_lower_close()
+
+    def _visual_close(self):
+        self.is_start_visual=False
+        self._is_finish=True
+        self._is_feed_stage=0
+        print(f'--------进入关闭-----------')
+        self.safe_control_lower_close(3)
+        print(f'--------关闭完成-----------')
+        #记录重量
+        _current_weight=self.transmitter_controller.read_data(2)
+        if _current_weight is not None:
+            self._finish_weight= self._finish_weight+(self._inital_finish_lweight-_current_weight)
+            with open('weight.txt', 'a') as f:
+                timestamp = datetime.now().strftime("%H:%M:%S")
+                f.write(f"{timestamp} - {self._finish_weight}\n")
+             
+
+    def run_feed_all(self):
+        """
+        全流程下料：包括判断模具类型
+        """
+        _is_f= run_stable_classification_loop()
+        print(f'------------已判断出模具类型: {_is_f}-------------')
+        if _is_f is not None:
+            if _is_f=='模具车1':
+                self._is_small_f=True
+                print('-------------F块模具--------------')
+                print('-------------F块模具--------------')
+                print('-------------F块模具--------------')
+                self.run_feed_f()
+            elif _is_f=='模具车2':
+                self._is_small_f=False
+                self.run_feed()
+                print('-------------其他模具---------------')
+
+        if self._is_small_f is None:
+            print('-----------未判断出模具类型--------------')
+            return
+    
+    def run_feed_f(self):
+        """第一阶段下料：下料斗向模具车下料（低速）"""
+        print("--------------------开始下料（F块）--------------------")
+        # loc_relay=self.relay_controller
+        loc_mitter=self.transmitter_controller
+        max_weight_none=5
+        cur_weight_none=0
+        initial_lower_weight=loc_mitter.read_data(2)
+        if initial_lower_weight is None:
+            print("-----f上料斗重量异常-----")
+            return
+        first_finish_weight=0
+        self._finish_weight=first_finish_weight
+        self._inital_finish_lweight=initial_lower_weight
+        need_total_weight=0.54*2416
+        if initial_lower_weight>100:
+            if not self._is_finish:
+                self.is_start_visual=True
+                initial_lower_weight=loc_mitter.read_data(2)
+                if initial_lower_weight is None:
+                    print("-----f上料斗重量异常2-----")
+                    return
+                self._is_feed_stage=5
+                while not self._is_finish:
+                    current_weight = loc_mitter.read_data(2)
+                    if current_weight is None:
+                        cur_weight_none+=1
+                        if cur_weight_none>max_weight_none:
+                            #如果重量连续5次为None，认为下料斗未就位，跳出循环
+                            print('------------f下到模具车,下料斗重量异常----------------')
+                            print('------------f下到模具车,下料斗重量异常----------------')
+                            self.close_lower_door_visual()
+                            return
+                            #视觉处理关闭，异常的话重量没有生效
+                        continue
+                    cur_weight_none=0
+                    first_finish_weight=initial_lower_weight-current_weight
+                    self._is_finish_ratio=(first_finish_weight)/need_total_weight
+                    print(f'------------已下料比例: {self._is_finish_ratio}-------------')
+                    if self._is_finish_ratio>self._max_f_angle_ratio:
+                        #关5秒
+                        #大于0.7后不再检测了，直接交给视觉控制夹脚
+                        # print(f'------------已下料比例: {self._is_finish_ratio}-------------')
+                        break
+                        
+                    # print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
+                    time.sleep(1)
+        # initial_lower_weight=_current_lower_weight
+        print(f'------------已下料（F）: {first_finish_weight}kg-------------')
+        print(f'------------已下料（F）: {first_finish_weight}kg-------------')
+ 
+        print(f'------------已完成-------------')
+
+
     def run_feed(self):
         """第一阶段下料：下料斗向模具车下料（低速）"""
-        print("--------------------开始下料--------------------")
+        print("--------------------开始下料（普通块）--------------------")
         loc_relay=self.relay_controller
         loc_mitter=self.transmitter_controller
+        max_weight_none=5
+        cur_weight_none=0
 
         initial_lower_weight=loc_mitter.read_data(2)
-        initial_upper_weight=loc_mitter.read_data(1)
+        # initial_upper_weight=loc_mitter.read_data(1)
+        if initial_lower_weight is None:
+            print("---------------下料斗重量异常----------------")
+            return
         first_finish_weight=0
-        # need_total_weight=1.91*2416
-        start_time=None
+        need_total_weight=1.91*2416
+        # start_time=None
         self.is_start_visual=True
-        
         if initial_lower_weight>100:
             #下料斗的料全部下完
-            while not self._is_finish:
-                loc_mitter.is_start_lower=True
+            self._is_feed_stage=1
+            while not self._is_finish:          
                 current_weight = loc_mitter.read_data(2)
-                first_finish_weight=initial_lower_weight-current_weight
-                if current_weight<500:
-                    # 破拱控制
-                    if start_time is None or time.time()-start_time>5:
-                        start_time=time.time()
-                        loc_relay.control_arch_lower_open()
-
-                    if current_weight<250:
-                        start_time=None
-                        self.is_start_visual=False
-                        loc_mitter.is_start_lower=False
-                        time.sleep(0.5)
-                        self.safe_control_lower_close()
-                        break
-                print(f'------------已下料: {first_finish_weight}kg-------------')
+                if current_weight is None:
+                    cur_weight_none+=1
+                    if cur_weight_none>max_weight_none:
+                        print("-----------下料斗重量异常(第一次下到模具车)--------------")
+                        self.close_lower_door_visual()
+                        return
+                    continue
+                cur_weight_none=0
+                if current_weight<250 and current_weight>0:
+                    self.close_lower_door_visual()
+                    break
                 time.sleep(1)
-
-        # _current_lower_weight=loc_mitter.read_data(2)
-        # first_finish_weight=initial_lower_weight-_current_lower_weight
+        _current_lower_weight=loc_mitter.read_data(2)
+        if _current_lower_weight is None:
+            print("-------下料斗重量异常---------")
+            return
+        first_finish_weight=initial_lower_weight-_current_lower_weight
         # initial_lower_weight=_current_lower_weight
-        # print(f'------------已下料: {first_finish_weight}kg-------------')
-        # print(f'------------已下料: {first_finish_weight}kg-------------')
+        print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
+        print(f'------------已下料（第一次）: {first_finish_weight}kg-------------')
+        self._is_feed_stage=0
+
+        while self.plc_data!=5:
+            print('------------上料斗未就位----------------')
+            print('------------上料斗未就位----------------')
+            time.sleep(1)
 
         if self.plc_data==5:
             print(f'------------上料斗向下料斗转移(留3000KG）-------------')
             #打开上料斗出砼门，开5就，开三分之一下
+          
             loc_relay.control_upper_open_sync(6)
+            self._is_feed_stage=2
             loc_time_count=1
             upper_open_time=time.time()
+           
             while not self._is_finish:
-                loc_mitter.is_start_upper=True
                 current_upper_weight = loc_mitter.read_data(1)
-                if current_upper_weight<3000:
+                if current_upper_weight is None:
+                    cur_weight_none+=1
+                    if cur_weight_none>max_weight_none:
+                        #如果重量连续5次为None，认为上料斗未就位，跳出循环
+                        print('------------第一次上到下,上料斗重量异常----------------')
+                        print('------------第一次上到下,上料斗重量异常----------------')
+                        loc_relay.control_upper_close_sync(5+loc_time_count)
+                        return
+                    continue
+                cur_weight_none=0
+                if current_upper_weight<3000 and current_upper_weight>0:
                     #关5秒,loc_time_count多关一秒
-                    loc_relay.control_upper_close_sync(4+loc_time_count)
-                    loc_mitter.is_start_upper=False
+                    loc_relay.control_upper_close_sync(5+loc_time_count)
                     break
                 else:
                     if time.time()-upper_open_time>5:
-                        upper_open_time=time.time()
-                        loc_relay.control_upper_open_sync(0.5)
-                        loc_time_count=loc_time_count+0.5
+                        if loc_time_count<6:
+                            upper_open_time=time.time()
+                            loc_relay.control_upper_open_sync(0.8)
+                            loc_time_count=loc_time_count+0.8
                     else:
                         time.sleep(0.5)
-            # time.sleep(0.4)
+            else:
+                 loc_relay.control_upper_close_sync(6+loc_time_count)
         
         self.is_start_visual=True
-        loc_mitter.is_start_lower=False
-        loc_mitter.test_lower_weight=2000
         initial_lower_weight=loc_mitter.read_data(2)
-       
+        if initial_lower_weight is None:
+            print("-------下料斗重量异常(第二次下料到模具车)---------")
+            return
+        self._is_feed_stage=3
         while not self._is_finish:
-            loc_mitter.is_start_lower=True
             current_weight = loc_mitter.read_data(2)
-            second_finish_weight=initial_lower_weight-current_weight
-            if current_weight<500:
-                #关5秒
-                if start_time is None or time.time()-start_time>5:
-                    start_time=time.time()
-                    loc_relay.control_arch_lower_open()
-                if current_weight<250:
-                    start_time=None
-                    self.is_start_visual=False
-                    loc_mitter.is_start_lower=False
-                    time.sleep(0.5)                
-                    self.safe_control_lower_close()
-                    break
-            print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
+            if current_weight is None:
+                cur_weight_none+=1
+                if cur_weight_none>max_weight_none:
+                    print("-------下料斗重量异常(第二次下料到模具车)---------")
+                    self.close_lower_door_visual()
+                    return
+                continue
+            cur_weight_none=0
+            # second_finish_weight=initial_lower_weight-current_weight
+            if current_weight<250:
+                self.close_lower_door_visual()
+                break
+            # print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
             time.sleep(1)
-        # _current_lower_weight=loc_mitter.read_data(2)
-        # first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
-        # print(f'------------已下料: {first_finish_weight}kg-------------')
-        # print(f'------------已下料: {first_finish_weight}kg-------------')
+        _current_lower_weight=loc_mitter.read_data(2)
+        if _current_lower_weight is None:
+            print("-------下料斗重量异常(第二次下到模)---------")
+            return
+        first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
+        print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
+        print(f'------------已下料（第二次）: {first_finish_weight}kg-------------')
+        
+        self._is_feed_stage=0
         if self.plc_data==5:
             #第二次上料斗向下料斗转移
-            loc_relay.control_upper_open_sync(6)
+            loc_relay.control_upper_open_sync(11)
             loc_time_count=1
             upper_open_time=time.time()
-            loc_mitter.is_start_upper=False
-            loc_mitter.test_upper_weight=3000
             #第二次到下料斗还需要的量
             #loc_left_need_weight=need_total_weight-first_finish_weight
-            initial_upper_weight=loc_mitter.read_data(1)
-            start_time=None
+            # initial_upper_weight=loc_mitter.read_data(1)
+            # start_time=None
+            self._is_feed_stage=4
             while not self._is_finish:
                # print(f'------------上料斗向下料斗转移22222-------------')
-                loc_mitter.is_start_upper=True
                 current_upper_weight = loc_mitter.read_data(1)
-                if current_upper_weight<500:
-                    #关5秒,loc_time_count多关一秒
-                    if start_time is None or time.time()-start_time>4:
-                        start_time=time.time()
-                        loc_relay.control_arch_upper_open()
-                    if current_upper_weight<100:
-                        start_time=None
-                        loc_relay.control_upper_close_sync(4+loc_time_count)
-                        loc_mitter.is_start_upper=False
+                if current_upper_weight is None:
+                    cur_weight_none+=1
+                    if cur_weight_none>max_weight_none:
+                        #如果重量连续5次为None，认为上料斗未就位，跳出循环
+                        print('------------第二次上到下,上料斗重量异常----------------')
+                        print('------------第二次上到下,上料斗重量异常----------------')
+                        loc_relay.control_upper_close_sync(15)
                         break
+                    continue
+                cur_weight_none=0
+                if current_upper_weight<400 and current_upper_weight>0: 
+                    loc_relay.control_arch_upper_open() 
+                    loc_relay.control_upper_open_sync(5)
+                       # start_time=None
+                    #5秒后关闭
+                    loc_relay.control_upper_close_after()#control_upper_close_sync(8+loc_time_count)
+                    break
                 else:
-                    if time.time()-upper_open_time>3:
+                    if time.time()-upper_open_time>2:
+                        # if loc_time_count<6:
                         upper_open_time=time.time()
-                        loc_relay.control_upper_open_sync(0.8)
-                        loc_time_count=loc_time_count+0.8
+                        loc_relay.control_upper_open_sync(1)
+                        loc_time_count=loc_time_count+1
                     else:
                         time.sleep(0.5)
+            else:
+                 loc_relay.control_upper_close_sync(15)
             # time.sleep(0.4)
         
-        #第二次下料斗转移到模具车
+        #第三次下料斗转移到模具车
         if not self._is_finish:
             self.is_start_visual=True
-        # loc_mitter.is_start_lower=False
-        # loc_mitter.test_lower_weight=2000
-        # initial_lower_weight=loc_mitter.read_data(2)
-       
-        # while not self._is_finish:
-        #     loc_mitter.is_start_lower=True
-        #     current_weight = loc_mitter.read_data(2)
-        #     second_finish_weight=initial_lower_weight-current_weight
-        #     # self._is_finish_ratio=(second_finish_weight+first_finish_weight)/need_total_weight
-        #     # print(f'------------已下料比例: {self._is_finish_ratio}-------------')
-       
-        #     if current_weight<500:
-        #         #关5秒
-        #         if start_time is None or time.time()-start_time>5:
-        #             start_time=time.time()
-        #             loc_relay.control_arch_lower_open()
-                 
-        #     print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
-        #     time.sleep(1)
-        
+            initial_lower_weight=loc_mitter.read_data(2)
+            self._finish_weight=first_finish_weight
+            self._inital_finish_lweight=initial_lower_weight
+            if initial_lower_weight is None:
+                print("-------下料斗重量异常(第三次下到模具车)---------")
+                return
+            self._is_feed_stage=5
+            while not self._is_finish:
+                current_weight = loc_mitter.read_data(2)
+                if current_weight is None:
+                    cur_weight_none+=1
+                    if cur_weight_none>max_weight_none:
+                        #重量异常退出
+                        print('------------第三次下到模具车,下料斗重量异常----------------')
+                        self.close_lower_door_visual()
+                        return           
+                    continue
+                cur_weight_none=0
+                second_finish_weight=initial_lower_weight-current_weight
+                self._is_finish_ratio=(second_finish_weight+first_finish_weight)/need_total_weight
+                print(f'------------已下料比例: {self._is_finish_ratio}-------------')
+                if self._is_finish_ratio>self._max_angle_radio:
+                    #关5秒
+                    # print(f'------------已下料比例: {self._is_finish_ratio}-------------')
+                    break
+                    
+                # print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
+                time.sleep(1)
+            
         # _current_lower_weight=loc_mitter.read_data(2)
         # first_finish_weight=first_finish_weight+initial_lower_weight-_current_lower_weight
         # print(f'------------已下料: {first_finish_weight}kg-------------')
@@ -354,54 +605,66 @@ class VisualCallback:
                     # time.sleep(3)               
                  else:
                     if overflow_detected=='浇筑满':
-                        self.is_start_visual=False
-                        self._is_finish=True
-                        self.safe_control_lower_close(3)
+                        self._visual_close()
+                        return
+                        # print(f'--------已关闭已关闭-----------')
                     elif overflow_detected=="大堆料":
-                        print(f'--------未浇筑满，大堆料，不开关-----------')
-                    else:   
-                        self._pulse_control('open',0.5)
+                        print(f'--------未浇筑满，大堆料-----------')
+                        self._pulse_control('open',0.3)
                         time.sleep(0.3)
-                        self._pulse_control('close',0.6)   
-                        time.sleep(2)
+                        self._pulse_control('close',0.4)   
+
+                        time.sleep(1)
+                        self._is_before_finish=True  
+                    else:   
+                        # self._pulse_control('open',0.5)
+                        # time.sleep(0.3)
+                        # self._pulse_control('close',0.6)   
+                        self._pulse_control('open',0.6)
+                        time.sleep(0.3)
+                        self._pulse_control('close',0.7)   
+
+                        time.sleep(1)
                         self._is_before_finish=True           
+                 if self._is_finish_ratio<=self._max_ignore_radio:
+                    #如果重量未达到最大忽略角度，需要跳出
+                    self._is_before_finish=False
                  return
             elif overflow_detected == "浇筑满":
-                self.is_start_visual=False
-                self._is_finish=True
-                self.safe_control_lower_close(3)
+                self._visual_close()
                 return
             else:
                 self._before_finish_time=None
-                # if self._is_finish_ratio>=0.8:
-                #      if overflow_detected == "大堆料":
-                #         TARGET_ANGLE = 10.0  # 大堆料时控制在15度左右
-                #      elif overflow_detected == "小堆料":
-                #         TARGET_ANGLE = 20.0  # 小堆料时控制在35度左右
-                #      else:
-                #         TARGET_ANGLE = 25.0  # 未溢料时开到最大56度
-                #      if self._is_finish_ratio>=0.9 and not self._is_zd_close:
-                #         #关闭10秒，直接关闭，不等待
-                #         print('-----------------达到90%  关闭--------------------')
-                #         self._is_zd_close=True
-                #         self.safe_control_lower_close()
-                #         time.sleep(10)
-                #         return
-
-                # else:
-                    #根据溢料状态动态调整目标角度
-                if overflow_detected == "大堆料":
-                    TARGET_ANGLE = 15.0  # 大堆料时控制在15度左右
-                elif overflow_detected == "小堆料":
-                    TARGET_ANGLE = 25.0  # 小堆料时控制在35度左右
+                if self._is_finish_ratio>=self._max_angle_radio or (self._is_finish_ratio>self._max_f_angle_ratio and self._is_small_f):
+                     if overflow_detected == "大堆料":
+                        TARGET_ANGLE = 5.0  # 大堆料时控制在15度左右
+                     elif overflow_detected == "小堆料":
+                        TARGET_ANGLE = 15.0  # 小堆料时控制在35度左右
+                     else:
+                        TARGET_ANGLE = 25.0  # 未溢料时开到最大56度
                 else:
-                    TARGET_ANGLE = 45.0  # 未溢料时开到最大56度
+                   if self._is_feed_stage==1 or self._is_feed_stage==3:
+                         #根据溢料状态动态调整目标角度
+                        if overflow_detected == "大堆料":
+                            TARGET_ANGLE = 15.0  # 大堆料时控制在15度左右
+                        elif overflow_detected == "小堆料":
+                            TARGET_ANGLE = 45.0  # 小堆料时控制在35度左右
+                        else:
+                            TARGET_ANGLE = 55.0  # 未溢料时开到最大56度
+                   else:
+                        #根据溢料状态动态调整目标角度
+                        if overflow_detected == "大堆料":
+                            TARGET_ANGLE = 15.0  # 大堆料时控制在15度左右
+                        elif overflow_detected == "小堆料":
+                            TARGET_ANGLE = 25.0  # 小堆料时控制在35度左右
+                        else:
+                            TARGET_ANGLE = 45.0  # 未溢料时开到最大56度
             
             # 确保目标角度在硬件范围内（5-56度）
             TARGET_ANGLE = max(5.0, min(56.0, TARGET_ANGLE))
             
             # PID控制参数
-            KP = 0.15    # 比例系数
+            KP = 0.2    # 比例系数
             KI = 0  # 积分系数  
             KD = 0  # 微分系数
             # KP = 0.15    # 比例系数
@@ -618,6 +881,12 @@ class VisualCallback:
         if self.callback_thread.is_alive():
             self.callback_thread.join(timeout=1.0)
 
+        if self.feed_thread.is_alive():
+            self.feed_thread.join(timeout=1.0)
+            
+        if self.monitor_thread.is_alive():
+            self.monitor_thread.join(timeout=1.0)
+
     def __del__(self):
         """析构函数，确保线程安全关闭"""
         self.shutdown()