Merge branch 'feature/main_ui' of http://www.xj-robot.com:3000/xiongyi/Feeding_control_system into feature/main_ui

service/opcua_angle_uploader.py

@@ -0,0 +1,128 @@
+from opcua import Client, ua
+import traceback
+import threading
+import time
+
+class OPCAngleUploader:
+    """下料斗夹爪角度上传OPC"""
+    def __init__(self, opc_server_url="opc.tcp://localhost:4840/zjsh_feed/server/",
+                  angle_node_id = "ns=2;i=13", upload_interval=0.5,
+                  angle_threshold=5.0, angle_min = 3.0):
+        # OPC服务器配置
+        self.opc_server_url = opc_server_url 
+        self.upload_interval = upload_interval  # 固定0.5秒上传
+        self.angle_threshold = angle_threshold  # 角度变化阈值(超过阈值才更新角度)
+        self.angle_min = angle_min              # 角度最小值(低于该值为误判的角度，不更新)
+
+        # 配置 lower_angle 节点ID（ns=2;i=13）
+        self.angle_node_id = angle_node_id  # lower_angle节点ID
+        self.angle_node = None  # 缓存节点对象，避免重复获取
+        
+        # 线程安全相关
+        self.latest_angle = None  # 最新角度缓存
+        self.last_uploaded_angle = None   # 上一次成功上传opc的角度
+        self.angle_lock = threading.Lock()  # 角度读写锁
+        self.exit_event = threading.Event()  # 线程退出信号
+        self.upload_thread = None  # 上传线程
+        
+        # OPC客户端状态
+        self.opc_client = None
+        self.is_connected = False
+
+    def connect_opc(self):
+        """连接OPC服务器, 获取lower_angle节点对象"""
+        try:
+            # 关闭旧连接
+            if self.opc_client:
+                try:
+                    self.opc_client.disconnect()
+                except:
+                    pass
+            
+            # 初始化客户端并连接
+            self.opc_client = Client(self.opc_server_url)
+            self.opc_client.connect()
+            
+            # 获取目标节点（仅获取一次，提升效率）
+            self.angle_node = self.opc_client.get_node(self.angle_node_id)
+            self.is_connected = True
+            # print(f"[OPC] 连接成功，已获取节点：{self.angle_node_id}（lower_angle）")
+            return True
+        except Exception as e:
+            print(f"[OPC] 连接/获取节点失败：{e}")
+            self.is_connected = False
+            self.angle_node = None
+            return False
+
+    def update_angle(self, angle):
+        """线程安全更新最新角度值"""
+        with self.angle_lock:
+            self.latest_angle = angle
+
+    def _upload_worker(self):
+        """上传线程核心: 每隔0.5秒写入角度节点"""
+        # 初始连接（失败则5秒重试）
+        while not self.exit_event.is_set() and not self.connect_opc():
+            # print(f"[OPC] 初始连接失败，5秒后重试...")
+            time.sleep(5)
+
+        # 循环上传
+        while not self.exit_event.is_set():
+            try:
+                # 连接失效则重连
+                if not self.is_connected or not self.angle_node:
+                    self.connect_opc()
+                    time.sleep(1)
+                    continue
+
+                # 线程安全读取角度
+                with self.angle_lock:
+                    current_angle = self.latest_angle
+                    last_angle = self.last_uploaded_angle
+                if current_angle is None:
+                    time.sleep(self.upload_interval)
+                    continue
+                
+                need_upload = False
+                if last_angle is None:
+                    need_upload = True
+                else:
+                    angle_diff = abs(float(current_angle) - float(last_angle))
+                    if angle_diff >= self.angle_threshold:
+                        need_upload = True
+
+                # 写入角度到OPC节点
+                if need_upload and current_angle > self.angle_min:
+                    angle_variant = ua.Variant(float(current_angle), ua.VariantType.Float)
+                    self.angle_node.set_value(angle_variant)
+                    # 更新上一次上传的角度
+                    with self.angle_lock:
+                        self.last_uploaded_angle = current_angle
+
+                # 0.5秒间隔
+                time.sleep(self.upload_interval)
+
+            except Exception as e:
+                print(f"[OPC] 上传异常：{e}")
+                traceback.print_exc()
+                self.is_connected = False  # 标记连接失效，触发重连
+                time.sleep(1)
+
+    def start_upload(self):
+        """启动上传线程（守护线程，随进程退出）"""
+        if not self.upload_thread or not self.upload_thread.is_alive():
+            self.exit_event.clear()
+            self.upload_thread = threading.Thread(target=self._upload_worker, daemon=True)
+            self.upload_thread.start()
+
+    def stop_upload(self):
+        """停止线程并关闭OPC连接"""
+        self.exit_event.set()
+        if self.upload_thread and self.upload_thread.is_alive():
+            self.upload_thread.join(timeout=2)
+        if self.opc_client:
+            try:
+                self.opc_client.disconnect()
+            except:
+                pass
+        self.is_connected = False