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重量记录0104

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fujinliang
2026-01-04 11:48:12 +08:00
parent cddb7531ab
commit d0d71b9efe
5 changed files with 59 additions and 13 deletions
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66
vision/visual_callback_dq.py
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@ -8,6 +8,7 @@ import time
import threading
from datetime import datetime
import logging
import queue
from hardware.upper_plc import OmronFinsPollingService
from vision.muju_cls.muju_utils import run_stable_classification_loop
@ -49,6 +50,9 @@ class VisualCallback:
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
#重量大于95%，停留时间2秒，其他的1秒
self._weight_ratio_955=0.955
#完成多少，忽略未浇筑满
self._max_ignore_radio=0.5
@ -58,6 +62,8 @@ class VisualCallback:
self._time_mould_begin=''
#模具结束浇筑时间
self._time_mould_end=''
# self.db_queue=queue.Queue()
# self.plc_data=5
self.plc_service = OmronFinsPollingService("192.168.250.233")
@ -85,6 +91,16 @@ class VisualCallback:
name='monitor'
)
self.monitor_thread.start()
"""启动数据库监控"""
# self.db_thread = threading.Thread(
# target=self._monitor_db_loop,
# daemon=True,
# name='db_monitor'
# )
# self.db_thread.start()
def init_val(self):
#初始化值
@ -123,8 +139,11 @@ class VisualCallback:
#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
#记录视觉停止下料时的重量（计算后面加了多少）
self._last_lower_weight=0
# 初始化控制间隔和堆料状态跟踪属性
self._last_overflow_state = False
@ -150,7 +169,7 @@ class VisualCallback:
# 更新参数
if overflow_detected is not None:
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到溢料:{overflow_detected}")
# print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到溢料:{overflow_detected}")
self._overflow_detected = overflow_detected
if current_angle is not None:
#print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 收到角度:{current_angle}")
@ -341,6 +360,7 @@ class VisualCallback:
#未对齐，检测对齐
_is_not_aligned=self._aligned_get_times(2)
if _is_not_aligned:
#标志位
self._mould_before_aligned=False
print('------------连续盖板未对齐-------------')
else:
@ -350,6 +370,11 @@ class VisualCallback:
self._mould_before_aligned=True
print('-----------进入连续块111111-----------')
# self.is_start_visual=True
if self._last_lower_weight>0:
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight is not None:
with open('weight.txt', 'a') as f:
f.write(f"{self._last_lower_weight-_current_weight}\n")
self.init_val()
self.run_feed_all()
@ -392,9 +417,17 @@ class VisualCallback:
print(f'--------进入关闭(浇筑满)-----------')
self.safe_control_lower_close(3)
print(f'--------关闭完成-----------')
# try:
# self.db_queue.put_nowait({
# "f":self._is_small_f,
# "Status": 3
# })
# except queue.Full:
# print("数据库队列已满，无法添加数据")
#记录重量
_current_weight=self.transmitter_controller.read_data(2)
if _current_weight is not None:
self._last_lower_weight=_current_weight
self._finish_weight= self._finish_weight+(self._inital_finish_lweight-_current_weight)
with open('weight.txt', 'a') as f:
timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
@ -552,7 +585,10 @@ class VisualCallback:
return
continue
cur_weight_none=0
if current_upper_weight<3000 and current_upper_weight>0:
_two_lower_weight=loc_mitter.read_data(2)
if _two_lower_weight is None:
_two_lower_weight=0
if (current_upper_weight<3000 and current_upper_weight>0) or _two_lower_weight>3200:
#关5秒,loc_time_count多关一秒
loc_relay.control_upper_close_sync(5+loc_time_count)
break
@ -670,7 +706,7 @@ class VisualCallback:
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:
if self._is_finish_ratio>=1:
#关5秒
# print(f'------------已下料比例: {self._is_finish_ratio}-------------')
break
@ -725,18 +761,24 @@ class VisualCallback:
self._pulse_control('open',0.3)
time.sleep(0.3)
self._pulse_control('close',0.4)
time.sleep(1)
print(f'--------比例：{self._is_finish_ratio}-----------')
if self._is_finish_ratio>= self._weight_ratio_955:
time.sleep(2)
else:
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('close',0.6)
# print(f'--------比例：{self._is_finish_ratio}-----------')
self._pulse_control('open',0.6)
time.sleep(0.3)
self._pulse_control('close',0.7)
time.sleep(1)
if self._is_finish_ratio>= self._weight_ratio_955:
time.sleep(2)
else:
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
@ -972,7 +1014,7 @@ class VisualCallback:
def on_plc_update(self,data: int, binary: str):
#4即将振捣室5振捣室 64即将搅拌楼 66到达搅拌楼
print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
# print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
self.plc_data=data
@classmethod
@ -989,7 +1031,9 @@ class VisualCallback:
self._is_running=False
self._is_finish=True
self.is_start_visual=False
# #关闭下料斗
# self.safe_control_lower_close()
if self.plc_service:
self.plc_service.stop_polling()
# 等待线程结束
@ -1001,6 +1045,8 @@ class VisualCallback:
if self.monitor_thread.is_alive():
self.monitor_thread.join(timeout=1.0)
# self.relay_controller._close_lower_5s
def __del__(self):
"""析构函数，确保线程安全关闭"""