变频器集成以及增加点动控制(0209)
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feeding/process copy.py
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167
feeding/process copy.py
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from enum import IntEnum
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from core.state import FeedStatus
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from service.mould_service import MouldService
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from busisness.blls import ArtifactBll
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from busisness.models import ArtifactInfoModel,ArtifactInfo
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import time
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from datetime import datetime
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from hardware.RFID.rfid_service import rfid_service
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from config.settings import app_set_config
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class FeedingProcess:
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def __init__(self, relay_controller, inverter_controller,
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transmitter_controller, vision_detector,
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camera_controller, state):
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self.relay_controller = relay_controller
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self.artifact_bll = ArtifactBll()
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self.mould_service = MouldService()
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self.inverter_controller = inverter_controller
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self.transmitter_controller = transmitter_controller
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self.vision_detector = vision_detector
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self.camera_controller = camera_controller
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self.state = state
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self.state._feed_status = FeedStatus.FNone
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#标志位用，是否是第一次运行
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self.is_first_flag=True
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def start_feeding(self):
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loc_state=self.state
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loc_state._upper_weight=self.transmitter_controller.read_data(1)
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loc_state._lower_weight=self.transmitter_controller.read_data(2)
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# loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
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"""开始生产管片"""
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if loc_state._feed_status == FeedStatus.FNone:
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return
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elif loc_state._feed_status == FeedStatus.FCheckM:
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print("---------------初始化数据------------------")
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loc_state._mould_need_weight= 1200
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loc_state._feed_status = FeedStatus.FFeed
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return
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elif loc_state._feed_status == FeedStatus.FFeed:
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print("----------------下料------------------")
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loc_state.mould_vibrate_time=time.time()
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loc_state._mould_frequency=app_set_config.frequencies[0]
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loc_state._mould_vibrate_status=1
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#上料斗重量
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loc_state.initial_upper_weight=loc_state._upper_weight
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#下料斗重量
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loc_state.initial_lower_weight=loc_state._lower_weight
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self.feeding_stage(loc_state)
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# if loc_state._mould_need_weight>loc_state.initial_lower_weight:
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# self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
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# loc_state._feed_status = FeedStatus.FFeed1
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# else:
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# loc_state._feed_status = FeedStatus.FFeed1
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return
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elif loc_state._feed_status == FeedStatus.FFinished:
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"""完成当前批次下料"""
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print("振捣完成")
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print("关闭所有网络继电器")
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self.relay_controller.close_all()
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return
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def _start_feeding_stage(self):
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"""启动指定下料阶段"""
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"""开始分步下料"""
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print("开始分步下料过程")
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self.transfer_material_from_upper_to_lower()
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def transfer_material_from_upper_to_lower(self,loc_state,initial_upper_weight,initial_lower_weight):
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"""target_upper_weight：转移后剩下的上料斗重量"""
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# 如果低于单次，全部卸掉
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_max_lower_weight=app_set_config.max_lower_volume*loc_state.density
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# if (initial_lower_weight+feed_weight>_max_lower_weight):
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feed_weight=_max_lower_weight-initial_lower_weight
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target_upper_weight=initial_upper_weight-feed_weight
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target_upper_weight = max(target_upper_weight, 0)
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# 确保下料斗出砼门关闭,同步关5秒
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self.relay_controller.control_lower_close()
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# 打开上料斗出砼门
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# self.relay_controller.control_upper_open()
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#一直打开3秒
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self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
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time.sleep(3)
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loc_state._upper_door_closed=False
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# 等待物料流入下料斗，基于上料斗重量变化控制
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start_time = time.time()
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# timeout = 30 # 30秒超时
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while loc_state.running:
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# self.relay_controller.control_upper_open_sync()
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self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close')
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current_upper_weight = self.transmitter_controller.read_data(1)
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# 如果无法读取重量，继续尝试
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if current_upper_weight is None:
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print("无法读取上料斗重量，继续尝试...")
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time.sleep(1)
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continue
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loc_state._upper_weight=current_upper_weight
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loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
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print(f"上料斗当前重量: {current_upper_weight:.2f}kg")
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# 如果达到目标重量，则关闭上料斗出砼门
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if current_upper_weight <= target_upper_weight + 50: # 允许50kg的误差范围
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print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
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print(f"花费时间 {time.time() - start_time:.2f}秒")
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break
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# time.sleep(1)
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# self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
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# time.sleep(0.2)
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loc_state._upper_door_closed=True
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# 关闭上料斗出砼门d
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self.relay_controller.control_upper_close()
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#测试用
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print("上料斗下料完成")
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def feeding_stage(self,loc_state):
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"""第一阶段下料：下料斗向模具车下料（低速）"""
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print("开始下料")
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# self.relay_controller.control
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first_finish_weight=0
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while True:
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current_weight = loc_state._lower_weight
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loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
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first_finish_weight=loc_state._mould_finish_weight
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if current_weight<100:
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#关5秒
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self.relay_controller.control_lower_close()
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break
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time.sleep(1)
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#打开上料斗出砼门
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self.relay_controller.control_upper_open_sync(5)
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while True:
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if loc_state._upper_weight<3000:
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#关5秒
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self.relay_controller.control_upper_close()
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break
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loc_state.initial_lower_weight=loc_state.lower_weight
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while True:
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current_weight = loc_state._lower_weight
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loc_state._mould_finish_weight=first_finish_weight+loc_state.initial_lower_weight-current_weight
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if current_weight<100:
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#关5秒
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self.relay_controller.control_lower_close()
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break
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time.sleep(1)
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def return_upper_door_to_default(self):
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"""上料斗回到默认位置（搅拌楼下接料位置）"""
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print("上料斗回到默认位置")
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# self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
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self.state._upper_door_position = 'default'
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@ -1,167 +1,359 @@
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from enum import IntEnum
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from core.state import FeedStatus
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from service.mould_service import MouldService
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from busisness.blls import ArtifactBll
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from busisness.models import ArtifactInfoModel,ArtifactInfo
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import time
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from datetime import datetime
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from hardware.RFID.rfid_service import rfid_service
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from pickle import FALSE
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from cv2.gapi import ov
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from config.settings import app_set_config
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from hardware.relay import RelayController
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from hardware.transmitter import TransmitterController
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import time
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import threading
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from datetime import datetime
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import logging
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import queue
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from hardware.upper_plc import OmronFinsPollingService
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from vision.muju_cls.muju_utils import run_stable_classification_loop
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from vision.camera_picture import save_camera_picture
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class FeedingProcess:
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# 类变量，用于存储实例引用，实现单例检测
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_instance = None
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_lock = threading.Lock()
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def __new__(cls):
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"""检测实例是否存在，实现单例模式"""
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with cls._lock:
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if cls._instance is None:
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cls._instance = super().__new__(cls)
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return cls._instance
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def __init__(self, relay_controller, inverter_controller,
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transmitter_controller, vision_detector,
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camera_controller, state):
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transmitter_controller, state):
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"""初始化视觉回调处理器"""
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# 避免重复初始化
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if hasattr(self, '_initialized') and self._initialized:
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return
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self.relay_controller = relay_controller
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self.artifact_bll = ArtifactBll()
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self.mould_service = MouldService()
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self.inverter_controller = inverter_controller
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self.transmitter_controller = transmitter_controller
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self.vision_detector = vision_detector
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self.camera_controller = camera_controller
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self.state = state
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self.state._feed_status = FeedStatus.FNone
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#标志位用，是否是第一次运行
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self.is_first_flag=True
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def start_feeding(self):
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loc_state=self.state
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loc_state._upper_weight=self.transmitter_controller.read_data(1)
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loc_state._lower_weight=self.transmitter_controller.read_data(2)
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# loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
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"""开始生产管片"""
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if loc_state._feed_status == FeedStatus.FNone:
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return
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elif loc_state._feed_status == FeedStatus.FCheckM:
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print("---------------初始化数据------------------")
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loc_state._mould_need_weight= 1200
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loc_state._feed_status = FeedStatus.FFeed
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return
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elif loc_state._feed_status == FeedStatus.FFeed:
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print("----------------下料------------------")
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loc_state.mould_vibrate_time=time.time()
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loc_state._mould_frequency=app_set_config.frequencies[0]
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loc_state._mould_vibrate_status=1
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#上料斗重量
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loc_state.initial_upper_weight=loc_state._upper_weight
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#下料斗重量
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loc_state.initial_lower_weight=loc_state._lower_weight
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self.feeding_stage(loc_state)
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# if loc_state._mould_need_weight>loc_state.initial_lower_weight:
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# self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight)
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# loc_state._feed_status = FeedStatus.FFeed1
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# else:
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# loc_state._feed_status = FeedStatus.FFeed1
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return
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elif loc_state._feed_status == FeedStatus.FFinished:
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"""完成当前批次下料"""
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print("振捣完成")
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print("关闭所有网络继电器")
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self.relay_controller.close_all()
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return
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def _start_feeding_stage(self):
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"""启动指定下料阶段"""
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"""开始分步下料"""
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print("开始分步下料过程")
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self.transfer_material_from_upper_to_lower()
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def transfer_material_from_upper_to_lower(self,loc_state,initial_upper_weight,initial_lower_weight):
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"""target_upper_weight：转移后剩下的上料斗重量"""
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# 如果低于单次，全部卸掉
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_max_lower_weight=app_set_config.max_lower_volume*loc_state.density
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# if (initial_lower_weight+feed_weight>_max_lower_weight):
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feed_weight=_max_lower_weight-initial_lower_weight
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# 线程安全的参数传递
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self._new_data_available = threading.Event()
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self._is_processing = threading.Lock()
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#diff参数
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self._is_processing_diff = threading.Lock()
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self._new_data_diff = threading.Event()
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self._current_diff=0
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self._current_diff_area=[]
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self._is_diff_save=False
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self._stop_event = threading.Event()
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target_upper_weight=initial_upper_weight-feed_weight
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target_upper_weight = max(target_upper_weight, 0)
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# 确保下料斗出砼门关闭,同步关5秒
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self.relay_controller.control_lower_close()
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# 打开上料斗出砼门
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# self.relay_controller.control_upper_open()
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#一直打开3秒
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self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
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time.sleep(3)
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loc_state._upper_door_closed=False
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# 等待物料流入下料斗，基于上料斗重量变化控制
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start_time = time.time()
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# timeout = 30 # 30秒超时
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# 添加下料斗门控制锁，防止两个线程同时控制
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self._door_control_lock = threading.Lock()
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# 记录当前控制门的线程名称，用于调试
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self._current_controlling_thread = None
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#是否启动后的第一个模具
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self._is_first_module=True
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self.init_val()
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# self._setup_logging_2()
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#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）
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self._max_f_angle_ratio=0.7
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#完成多少，调整角度比例 ，多于0.8就没记录了（注意）
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self._max_angle_radio=0.8
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while loc_state.running:
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# self.relay_controller.control_upper_open_sync()
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self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close')
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current_upper_weight = self.transmitter_controller.read_data(1)
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# 如果无法读取重量，继续尝试
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if current_upper_weight is None:
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print("无法读取上料斗重量，继续尝试...")
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time.sleep(1)
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continue
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loc_state._upper_weight=current_upper_weight
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loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1)
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print(f"上料斗当前重量: {current_upper_weight:.2f}kg")
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#重量大于95%，停留时间2秒，其他的1秒
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self._weight_ratio_955=0.955
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#完成多少，忽略未浇筑满
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self._max_ignore_radio=0.5
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# 如果达到目标重量，则关闭上料斗出砼门
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if current_upper_weight <= target_upper_weight + 50: # 允许50kg的误差范围
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print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg")
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print(f"花费时间 {time.time() - start_time:.2f}秒")
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break
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# time.sleep(1)
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# self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open')
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# time.sleep(0.2)
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self._mould_accept_aligned=None
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self._mould_before_aligned=False
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#模具开始浇筑时间
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self._time_mould_begin=''
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#模具结束浇筑时间
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self._time_mould_end=''
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loc_state._upper_door_closed=True
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# 关闭上料斗出砼门d
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self.relay_controller.control_upper_close()
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#测试用
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print("上料斗下料完成")
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def feeding_stage(self,loc_state):
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def run_feed_f(self):
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"""第一阶段下料：下料斗向模具车下料（低速）"""
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print("开始下料")
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# self.relay_controller.control
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print("--------------------开始下料（F块）--------------------")
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self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
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# loc_relay=self.relay_controller
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loc_mitter=self.transmitter_controller
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max_weight_none=5
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cur_weight_none=0
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initial_lower_weight=loc_mitter.read_data(2)
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if initial_lower_weight is None:
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print("-----f上料斗重量异常-----")
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return
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first_finish_weight=0
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while True:
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current_weight = loc_state._lower_weight
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loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
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first_finish_weight=loc_state._mould_finish_weight
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if current_weight<100:
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#关5秒
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self.relay_controller.control_lower_close()
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break
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self._finish_weight=first_finish_weight
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self._inital_finish_lweight=initial_lower_weight
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need_total_weight=0.54*2416
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if initial_lower_weight>100:
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if not self._is_finish:
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self.is_start_visual=True
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initial_lower_weight=loc_mitter.read_data(2)
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if initial_lower_weight is None:
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print("-----f上料斗重量异常2-----")
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return
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self._is_feed_stage=5
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while not self._is_finish:
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current_weight = loc_mitter.read_data(2)
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if current_weight is None:
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cur_weight_none+=1
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if cur_weight_none>max_weight_none:
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#如果重量连续5次为None，认为下料斗未就位，跳出循环
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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（普通块）--------------------")
|
||||
self._time_mould_begin=datetime.now().strftime("%Y-%m-%d %H:%M:%S")
|
||||
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)
|
||||
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
|
||||
self.is_start_visual=True
|
||||
if initial_lower_weight>100:
|
||||
#下料斗的料全部下完
|
||||
self._is_feed_stage=1
|
||||
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:
|
||||
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)
|
||||
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（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)
|
||||
|
||||
#打开上料斗出砼门
|
||||
self.relay_controller.control_upper_open_sync(5)
|
||||
while True:
|
||||
|
||||
if loc_state._upper_weight<3000:
|
||||
#关5秒
|
||||
self.relay_controller.control_upper_close()
|
||||
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:
|
||||
current_upper_weight = loc_mitter.read_data(1)
|
||||
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
|
||||
_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
|
||||
else:
|
||||
if time.time()-upper_open_time>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)
|
||||
else:
|
||||
loc_relay.control_upper_close_sync(6+loc_time_count)
|
||||
|
||||
self.is_start_visual=True
|
||||
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:
|
||||
current_weight = loc_mitter.read_data(2)
|
||||
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
|
||||
loc_state.initial_lower_weight=loc_state.lower_weight
|
||||
while True:
|
||||
current_weight = loc_state._lower_weight
|
||||
loc_state._mould_finish_weight=first_finish_weight+loc_state.initial_lower_weight-current_weight
|
||||
if current_weight<100:
|
||||
#关5秒
|
||||
self.relay_controller.control_lower_close()
|
||||
break
|
||||
|
||||
# print(f'------------已下料: {first_finish_weight+second_finish_weight}kg-------------')
|
||||
time.sleep(1)
|
||||
|
||||
|
||||
|
||||
_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(12)
|
||||
loc_time_count=1
|
||||
upper_open_time=time.time()
|
||||
upper_open_time_2=None
|
||||
#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
|
||||
self._is_feed_stage=4
|
||||
while not self._is_finish:
|
||||
# print(f'------------上料斗向下料斗转移22222-------------')
|
||||
current_upper_weight = loc_mitter.read_data(1)
|
||||
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<600 and current_upper_weight>0) or upper_open_time_2 is not None:
|
||||
if upper_open_time_2 is None:
|
||||
upper_open_time_2=time.time()
|
||||
if current_upper_weight<400 or time.time()-upper_open_time_2>5:
|
||||
loc_relay.control_arch_upper_open_async(5)
|
||||
# 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
|
||||
time.sleep(1)
|
||||
else:
|
||||
if time.time()-upper_open_time>2:
|
||||
# if loc_time_count<6:
|
||||
upper_open_time=time.time()
|
||||
loc_relay.control_upper_open_sync(1.2)
|
||||
loc_time_count=loc_time_count+1
|
||||
else:
|
||||
time.sleep(0.5)
|
||||
else:
|
||||
loc_relay.control_upper_close_sync(15)
|
||||
# time.sleep(0.4)
|
||||
|
||||
#第三次下料斗转移到模具车
|
||||
if not self._is_finish:
|
||||
self.is_start_visual=True
|
||||
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>=1:
|
||||
#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-------------')
|
||||
# print(f'------------已下料: {first_finish_weight}kg-------------')
|
||||
|
||||
|
||||
print(f'------------已完成-------------')
|
||||
|
||||
|
||||
|
||||
@classmethod
|
||||
def instance_exists(cls):
|
||||
"""检测实例是否存在"""
|
||||
return cls._instance is not None
|
||||
|
||||
def return_upper_door_to_default(self):
|
||||
"""上料斗回到默认位置（搅拌楼下接料位置）"""
|
||||
print("上料斗回到默认位置")
|
||||
# self.relay_controller.control(self.relay_controller.UPPER_TO_JBL, 'open')
|
||||
self.state._upper_door_position = 'default'
|
||||
|
||||
|
||||
# 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)
|
||||
Reference in New Issue
Block a user