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增加重量更新显示，hopper_controller 提供了料斗模块的数据接口

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yanganjie
2025-11-06 10:55:29 +08:00
parent 84382b0cc0
commit d2603cec4d
16 changed files with 278 additions and 94 deletions
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153
controller/hopper_controller.py Normal file
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@ -0,0 +1,153 @@
from PySide6.QtCore import QTimer, Signal, QObject, Slot
import threading
from hardware.transmitter import TransmitterController
from hardware.relay import RelayController
from view.widgets.hopper_widget import HopperWidget
from view.widgets.conveyor_system_widget import ConveyorSystemWidget
# 信号类：后台线程向主线程传递数据
class HopperSignals(QObject):
upper_weight_updated = Signal(int) # 上料斗重量更新信号
class HopperController:
def __init__(self, hopper_view:HopperWidget, conveyor_view:ConveyorSystemWidget):
self.hopper_view = hopper_view
self.conveyor_view = conveyor_view # 控制传送带中的上料斗
self.signals = HopperSignals() # 信号
# 下料斗夹爪测试用例数据
# 注意：目前只控制 下料斗的夹爪角度变化
self.angle = 10 # 夹爪当前角度
self.max_angle = 60 # 夹爪最大张开角度
self.min_angle = 10 # 夹爪最小张开角度
self.is_add = True # 角度增加/减小 控制
self.timer_angle = QTimer() # 角度更新定时器
self.timer_angle.setInterval(1000) # 1秒更新一次角度
# 重量读取定时器
self.timer_weight = QTimer() # 重量读取定时器
self.timer_weight.setInterval(2000) # 每2秒读取一次重量
# 绑定信号
self._connect_signals()
# 开启定时器
self.timer_angle.start()
self.timer_weight.start()
def _connect_signals(self):
# 更新上料斗重量
self.signals.upper_weight_updated.connect(self.onUpdateUpperHopperWeight)
# 上料斗重量定时读取
self.timer_weight.timeout.connect(self.handleReadUpperHopperWeight)
# 下料斗夹爪定时更新
self.timer_angle.timeout.connect(self.handleLowerClampAngleUpdate)
# 上料斗 "开"按钮点击
self.hopper_view.upper_open_btn.clicked.connect(self.onUpperClampOpenBottonClicked)
# 上料斗 "破拱"按钮
self.hopper_view.upper_arch_breaking_signal.connect(self.onUpperArchBreaking)
# 下料斗 "开"按钮点击
self.hopper_view.lower_open_btn.clicked.connect(self.onLowerClampOpenBottonClicked)
# 下料斗 "破拱"按钮
self.hopper_view.lower_arch_breaking_signal.connect(self.onLowerArchBreaking)
def handleLowerClampAngleUpdate(self):
"""处理下料斗夹爪开合"""
# 角度增减逻辑
if self.is_add:
self.angle += 1
else:
self.angle -= 1
# 边界控制
if self.angle > self.max_angle:
self.is_add = False
self.angle = self.max_angle
if self.angle <= self.min_angle:
self.is_add = True
self.angle = self.min_angle
# 更新下料斗夹爪角度
self.onUpdateLowerClampAngle(self.angle)
@Slot(int)
def onUpdateUpperHopperWeight(self, weight:int):
"更新上料斗重量"
self.hopper_view.setUpperHopperWeight(weight)
# 注意：此时需要同步更新传送带中的上料斗的重量
self.conveyor_view.setConveyorHopperWeight(weight)
@Slot(int)
def onUpdateLowerHopperWeight(self, weight:int):
"更新下料斗重量"
self.hopper_view.setLowerHopperWeight(weight)
@Slot()
def handleReadUpperHopperWeight(self):
# 后台读取上料斗重量
def upper_weight_task():
loc_tra = TransmitterController(RelayController())
# 上料斗重量 (目前只有上料斗安装变送器， 可以读取到重量)
upper_weight = loc_tra.read_data(1)
# 发送信号到主线程更新UI
if upper_weight is not None:
self.signals.upper_weight_updated.emit(upper_weight)
threading.Thread(target=upper_weight_task, daemon=True).start()
@Slot(float)
def onUpdateLowerClampAngle(self, angle:float):
"""更新下料斗夹爪角度"""
self.hopper_view.setLowerHopperOpeningAngle(angle)
@Slot(float)
def onUpdateUpperClampAngle(self, angle:float):
"""更新上料斗夹爪角度"""
self.hopper_view.setUpperHopperClampAngle(angle)
@Slot()
def onUpperClampOpenBottonClicked(self):
# 上料斗 夹爪 "开"按钮点击
print("hopper_controller: onUpperClampOpenBottonClicked")
# 测试上料斗夹爪，6秒打开60度
self.hopper_view.upper_clamp_widget.testAnimation(target_angle=60, duration=6)
@Slot(bool)
def onUpperArchBreaking(self, status:bool):
"""上料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
print("hopper_controller: onUpperArchBreaking ", status)
@Slot(int)
def onUpperHopperStatusChanged(self, status:int):
"""上料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
# 料斗中的状态指示器
self.hopper_view.setUpperHopperStatus(status)
@Slot(float)
def onUpdateUpperHopperVolume(self, volume: float):
"""更新上料斗显示的方量，如: 2.0"""
self.hopper_view.setUpperHopperVolume(volume)
@Slot()
def onLowerClampOpenBottonClicked(self):
# 下料斗 夹爪 "开"按钮点击
print("hopper_controller: onLowerClampOpenBottonClicked")
@Slot(bool)
def onLowerArchBreaking(self, status:bool):
"""下料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
print("hopper_controller: onLowerArchBreaking ", status)
@Slot(int)
def onLowerHopperStatusChanged(self, status:int):
"""下料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
# 料斗中的状态指示器
self.hopper_view.setLowerHopperStatus(status)

73
controller/main_controller.py
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@ -5,78 +5,17 @@ from hardware import transmitter
from view.main_window import MainWindow
from .camera_controller import CameraController
from .bottom_control_controller import BottomControlController
from hardware.transmitter import TransmitterController
from hardware.relay import RelayController
# 定义信号类（用于后台线程向 UI主线程传递数据）
class Signals(QObject):
weight_updated = Signal(int) # 传递上料斗重量
from .hopper_controller import HopperController
class MainController:
def __init__(self):
# 主界面
self.main_window = MainWindow()
# 1. 用于更新下料斗夹爪角度的QTimer
self.timer_angle = QTimer()
self.timer_angle.setInterval(1000) # 1秒触发一次
self.timer_angle.timeout.connect(self._onTimer2) # 连接到角度更新函数
self.timer_angle.start()
# 下料斗夹具角度相关参数
self.angle = 10
self.max_angle = 60
self.min_angle = 10
self.is_add = True
# 2. 用于更新重量的 QTimer
self.timer_weight = QTimer()
self.timer_weight.setInterval(2000) # 2秒触发一次
self.timer_weight.timeout.connect(self._read_weight_in_background)
self.timer_weight.start()
# 信号实例（用于后台线程传递数据到主线程）
self.signals = Signals()
self.signals.weight_updated.connect(self._update_upper_weight) # 主线程更新UI
# 初始化子界面和控制器
self._initSubViews()
self._initSubControllers()
def _read_weight_in_background(self):
"""在后台线程中读取重量"""
def weight_task():
loc_tra = TransmitterController(RelayController())
# 上料斗重量 (目前只有上料斗安装变送器， 可以读取到重量)
upper_weight = loc_tra.read_data(1)
# 发送信号到主线程更新UI
if upper_weight is not None:
self.signals.weight_updated.emit(upper_weight)
# 启动后台线程执行重量读取操作
threading.Thread(target=weight_task, daemon=True).start()
def _update_upper_weight(self, weight):
"""主线程中 更新界面上料斗重量数据"""
self.main_window.hopper_widget.setUpperHopperWeight(weight)
def _onTimer2(self):
"""QTimer触发的 料斗夹爪角度更新"""
if self.is_add:
self.angle += 1
else:
self.angle -= 1
if self.angle > self.max_angle:
self.is_add = False
self.angle = self.max_angle
if self.angle <= self.min_angle:
self.is_add = True
self.angle = 10
# 直接更新UI
self.main_window.hopper_widget.setLowerHopperOpeningAngle(self.angle)
def showMainWindow(self):
self.main_window.showFullScreen()
self.main_window.dispatch_task_widget.set_task_time("task1","15:44 PM")
@ -85,13 +24,23 @@ class MainController:
self.main_window.segment_task_widget.set_task_time("task2","17:24 PM")
def _initSubControllers(self):
# 右侧视频显示控制模块
self.camera_controller = CameraController(
video_view=self.main_window.vibration_video
)
# 底部按钮控制模块
self.bottom_control_controller = BottomControlController(
bottom_control_widget=self.main_window.bottom_control_widget,
main_window=self.main_window
)
# 料斗控制模块（包括 夹爪开合、拱等按钮）
self.hopper_controller = HopperController(
hopper_view = self.main_window.hopper_widget,
conveyor_view = self.main_window.conveyor_system_widget
)
def _initSubViews(self):
pass