变频器集成以及增加点动控制(0209)
This commit is contained in:
@ -1,88 +1,111 @@
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# hardware/inverter.py
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from pymodbus.exceptions import ModbusException
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from math import e
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import minimalmodbus
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import time
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from serial import SerialException
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class InverterController:
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def __init__(self, relay_controller):
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self.relay_controller = relay_controller
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self.max_frequency = 400.0 # 频率最大值
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def __init__(self,port='/dev/ttyUSB0'):
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self.inverter=None
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self.port=port
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# 变频器配置
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self.config = {
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'slave_id': 1,
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'frequency_register': 0x01, # 2001H
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'start_register': 0x00, # 2000H
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'stop_register': 0x00, # 2000H（用于停机）
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'start_command': 0x0013, # 正转点动运行
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'stop_command': 0x0001 # 停机
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}
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def _connect(self)->bool:
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"""连接变频器"""
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try:
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self.inverter = minimalmodbus.Instrument(self.port, 1)
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# 2. 配置串口参数
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self.inverter.serial.baudrate = 9600 # 波特率
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self.inverter.serial.bytesize = 8 # 数据位
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self.inverter.serial.parity = 'N' # 无校验
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self.inverter.serial.stopbits = 1 # 停止位
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self.inverter.serial.timeout = 1.0 # 超时时间
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self.inverter.mode = minimalmodbus.MODE_RTU # RTU模式
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return True
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except SerialException as e:
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print(f"串口占用或无法连接变频器串口:{e}")
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return False
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except Exception as e:
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print(f"连接变频器异常:{e}")
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return False
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def set_frequency(self, frequency):
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"""设置变频器频率"""
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_ret=False
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try:
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if not self.relay_controller.modbus_client.connect():
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print("无法连接网络继电器Modbus服务")
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return False
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# 使用最大频率变量计算百分比
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percentage = frequency / self.max_frequency # 得到 0~1 的比例
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value = int(percentage * 10000) # 转换为 -10000 ~ 10000 的整数
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# 限制范围
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value = max(-10000, min(10000, value))
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result = self.relay_controller.modbus_client.write_register(
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self.config['frequency_register'],
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value,
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slave=self.config['slave_id']
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)
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if isinstance(result, Exception):
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print(f"设置频率失败: {result}")
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return False
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print(f"设置变频器频率为 {frequency}Hz")
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return True
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except ModbusException as e:
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print(f"变频器Modbus通信错误: {e}")
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return False
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if(self._connect()):
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frequency_value = int(frequency * 100)
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self.inverter.write_register(0x7310, frequency_value)
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_ret=True
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else:
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print(f'设置频率{frequency}失败')
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except Exception as e:
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print(f"设置频率{frequency}异常:{e}")
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finally:
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self.relay_controller.modbus_client.close()
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if self.inverter:
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self.inverter.serial.close()
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return _ret
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def control(self, action):
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def read_frequency(self):
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"""读取变频器频率"""
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_ret=None
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try:
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if(self._connect()):
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frequency_value = self.inverter.read_register(0x7310)
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_ret=frequency_value / 100
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else:
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print(f"读取频率{frequency}失败")
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except Exception as e:
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print(f"读取频率{frequency}异常:{e}")
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finally:
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if self.inverter:
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self.inverter.serial.close()
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return _ret
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def read_status(self):
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"""读取变频器启动状态"""
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_ret=None
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try:
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if(self._connect()):
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status_value = self.inverter.read_register(0x3000)
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_ret=status_value
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else:
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print(f"读取启动状态失败")
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except Exception as e:
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print(f"读取启动状态异常:{e}")
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finally:
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if self.inverter:
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self.inverter.serial.close()
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return _ret
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def control(self, action,frequency=230):
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"""控制变频器启停"""
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# 先检查动作是否有效
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if action not in ['start', 'stop']:
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print(f"无效操作: {action}")
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return False
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_ret=False
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# 先检查动作是否有
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try:
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if not self.relay_controller.modbus_client.connect():
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print("无法连接网络继电器Modbus服务")
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return False
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if action == 'start':
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result = self.relay_controller.modbus_client.write_register(
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address=self.config['start_register'],
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value=self.config['start_command'],
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slave=self.config['slave_id']
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)
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print("启动变频器")
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elif action == 'stop':
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result = self.relay_controller.modbus_client.write_register(
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address=self.config['start_register'],
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value=self.config['stop_command'],
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slave=self.config['slave_id']
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)
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print("停止变频器")
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if isinstance(result, Exception):
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print(f"控制失败: {result}")
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return False
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return True
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except ModbusException as e:
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if(self._connect()):
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if action == 'start':
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status_value = self.inverter.read_register(0x3000)
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##读取3000H可直接读取变频器的当前状态（0001：正转运行；0002：反转运行；0003：停机；0004：电机参数辨识；0005：故障）。
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if status_value==3:
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frequency_value = int(frequency * 100)
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self.inverter.write_register(0x7310, frequency_value)
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time.sleep(1)
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self.inverter.write_register(0x2000, 1) # 1=正转运行
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print("启动变频器")
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elif action == 'stop':
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self.inverter.write_register(0x2000, 5) # 6=减速停机,5自由停机
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print("停止变频器")
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_ret=True
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else:
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print("连接变频器失败")
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except Exception as e:
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print(f"变频器控制错误: {e}")
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return False
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finally:
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self.relay_controller.modbus_client.close()
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if self.inverter:
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self.inverter.serial.close()
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return _ret
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@ -29,7 +29,7 @@ class RelayController:
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self.host = host
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self.port = port
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self.modbus_client = ModbusTcpClient(host, port=port)
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#遥1 DO 7 左 DO8 右 角度 摇2：DO 15下 13上 12 往后 14往前 下料斗DO7开 D09关
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#遥1 DO 7 左 DO8 右 角度 摇2：DO 15下 13上 12 启动振捣 14停止振捣 下料斗DO7开 D09关
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# 继电器命令（原始Socket）
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self.relay_commands = {
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self.RING: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
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@ -299,6 +299,22 @@ class RelayController:
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print(f"上料斗振动关闭完成，延迟{delay_seconds}秒")
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self.control(self.BREAK_ARCH_UPPER, 'close')
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def control_arch_lower_open_async(self,delay_seconds: float = 15):
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"""异步控制上料斗振动
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Args:
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delay_seconds: 延迟关闭时间（秒），默认15秒
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"""
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# 关闭下料斗出砼门
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self.control(self.BREAK_ARCH_LOWER, 'open')
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# 异步5秒后关闭
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threading.Thread(target=lambda d: self._close_break_arch_lower(delay_seconds),args=(delay_seconds,), daemon=True, name="_close_break_arch_lower").start()
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def _close_break_arch_lower(self, delay_seconds: float = 15):
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time.sleep(delay_seconds)
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print(f"下料斗振动关闭完成，延迟{delay_seconds}秒")
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self.control(self.BREAK_ARCH_LOWER, 'close')
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def close_all(self):
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@ -1,184 +0,0 @@
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# hardware/transmitter.py
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from pymodbus.exceptions import ModbusException
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import socket
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from config.ini_manager import ini_manager
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from config.settings import app_set_config
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class TransmitterController:
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def __init__(self, relay_controller):
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self.relay_controller = relay_controller
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# 变送器配置
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self.config = {
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1: { # 上料斗
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'slave_id': 1,
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'weight_register': 0x01,
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'register_count': 2
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},
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2: { # 下料斗
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'slave_id': 2,
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'weight_register': 0x01,
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'register_count': 2
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}
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}
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# 备份 （modbus 读取数据）
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def read_data_bak(self, transmitter_id):
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"""读取变送器数据"""
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try:
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if transmitter_id not in self.config:
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print(f"无效变送器ID: {transmitter_id}")
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return None
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config = self.config[transmitter_id]
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if not self.relay_controller.modbus_client.connect():
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print("无法连接网络继电器Modbus服务")
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return None
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result = self.relay_controller.modbus_client.read_holding_registers(
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address=config['weight_register'],
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count=config['register_count'],
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slave=config['slave_id']
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)
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if isinstance(result, Exception):
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print(f"读取变送器 {transmitter_id} 失败: {result}")
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return None
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# 根据图片示例，正确解析数据
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if config['register_count'] == 2:
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# 获取原始字节数组
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raw_data = result.registers
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# 组合成32位整数
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weight = (raw_data[0] << 16) + raw_data[1]
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weight = weight / 1000.0 # 单位转换为千克
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elif config['register_count'] == 1:
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weight = float(result.registers[0])
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else:
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print(f"不支持的寄存器数量: {config['register_count']}")
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return None
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print(f"变送器 {transmitter_id} 读取重量: {weight}kg")
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return weight
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except ModbusException as e:
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print(f"Modbus通信错误: {e}")
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return None
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except Exception as e:
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print(f"数据解析错误: {e}")
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return None
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finally:
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self.relay_controller.modbus_client.close()
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# 直接读取 变送器返回的数据并解析
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def read_data(self, transmitter_id):
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"""
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Args: transmitter_id 为1 表示上料斗, 为2 表示下料斗
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return: 读取成功返回重量 weight: int, 失败返回 None
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"""
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TIMEOUT = 2 # 超时时间为 2秒
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BUFFER_SIZE= 1024
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IP = None
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PORT = None
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weight = 0
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if transmitter_id == 1:
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# 上料斗变送器的信息：
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IP = ini_manager.upper_transmitter_ip
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PORT = ini_manager.upper_transmitter_port
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elif transmitter_id == 2:
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# 下料斗变送器的信息：
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IP = ini_manager.lower_transmitter_ip
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PORT = ini_manager.lower_transmitter_port
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if not IP or not PORT:
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print(f"未配置变送器 {transmitter_id} 的IP或PORT")
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return 0
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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try:
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s.settimeout(TIMEOUT)
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s.connect((IP, PORT))
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# print(f"连接上料斗变送器 {IP}:{PORT} 成功")
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# 接收数据（变送器主动推送，recv即可获取数据）
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data = s.recv(BUFFER_SIZE)
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if data:
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# print(f"收到原始数据：{data}")
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# 提取出完整的一个数据包 (\r\n结尾)
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packet = self.get_latest_valid_packet(data)
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if not packet:
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print("未获取到有效数据包!!")
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return None
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# 解析重量
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weight = self.parse_weight(packet)
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else:
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print("未收到设备数据")
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except ConnectionRefusedError:
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print(f"变送器连接失败：{IP}:{PORT} 拒绝连接（设备离线/端口错误）")
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except socket.timeout:
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print(f"读取变送器数据超时：{TIMEOUT}秒内未收到数据")
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except Exception as e:
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print(f"读取异常：{e}")
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# 成功返回重量（int），失败返回None
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return weight
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def get_latest_valid_packet(self, raw_data):
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"""
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解决TCP粘包:
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从原始数据中，筛选所有有效包，返回最新的一个有效包
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有效包标准: 1. 能UTF-8解码 2. 按逗号拆分≥3个字段 3. 第三个字段含数字（重量）
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"""
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DELIMITER = b'\r\n'
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# 1. 按分隔符拆分，过滤空包
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packets = [p for p in raw_data.split(DELIMITER) if p]
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if not packets:
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return None
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valid_packets = []
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for packet in packets:
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try:
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# 过滤无效ASCII字符（只保留可见字符）
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valid_chars = [c for c in packet if 32 <= c <= 126]
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filtered_packet = bytes(valid_chars)
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# 2. 验证解码
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data_str = filtered_packet.decode('utf-8').strip()
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# 3. 验证字段数量
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parts = data_str.split(',')
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if len(parts) < 3:
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continue
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# 4. 验证重量字段含数字
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weight_part = parts[2].strip()
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if not any(char.isdigit() for char in weight_part):
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continue
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# 满足所有条件，加入有效包列表
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valid_packets.append(packet)
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except (UnicodeDecodeError, IndexError):
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# 解码失败或字段异常，跳过该包
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continue
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# 返回最后一个有效包（最新），无有效包则返回None
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return valid_packets[-1] if valid_packets else None
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def parse_weight(self, packet_data):
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"""解析重量函数：提取重量数值（如从 b'ST,NT,+0000175\r\n' 中提取 175)"""
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try:
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data_str = packet_data.decode('utf-8').strip()
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parts = data_str.split(',')
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# 确保有完整的数据包，三个字段
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if len(parts) < 3:
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print(f"parse_weight: 包格式错误（字段不足）：{data_str}")
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return None
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weight_part = parts[2].strip()
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return int(''.join(filter(str.isdigit, weight_part)))
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except (IndexError, ValueError, UnicodeDecodeError) as e:
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# print(f"数据解析失败：{e}，原始数据包：{packet_data}")
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return None
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@ -16,6 +16,10 @@ class TransmitterController:
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self.is_start_lower=False
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self.start_time_upper=None
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self.start_time_lower=None
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self.upper_ip=ini_manager.upper_transmitter_ip
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self.upper_port=ini_manager.upper_transmitter_port
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self.lower_ip=ini_manager.lower_transmitter_ip
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self.lower_port=ini_manager.lower_transmitter_port
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# 变送器配置
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self.config = {
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1: { # 上料斗
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@ -93,12 +97,12 @@ class TransmitterController:
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weight = None
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if transmitter_id == 1:
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# 上料斗变送器的信息：
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IP = ini_manager.upper_transmitter_ip
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PORT = ini_manager.upper_transmitter_port
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IP = self.upper_ip
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PORT = self.upper_port
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elif transmitter_id == 2:
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# 下料斗变送器的信息：
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IP = ini_manager.lower_transmitter_ip
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PORT = ini_manager.lower_transmitter_port
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IP = self.lower_ip
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PORT = self.lower_port
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if not IP or not PORT:
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print(f"未配置变送器 {transmitter_id} 的IP或PORT")
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200
hardware/transmitter_bak.py
Normal file
200
hardware/transmitter_bak.py
Normal file
@ -0,0 +1,200 @@
|
||||
# hardware/transmitter.py
|
||||
import socket
|
||||
import threading
|
||||
from config.ini_manager import ini_manager
|
||||
from config.settings import app_set_config
|
||||
import time
|
||||
|
||||
class TransmitterController:
|
||||
def __init__(self):
|
||||
self.upper_ip = ini_manager.upper_transmitter_ip
|
||||
self.upper_port = ini_manager.upper_transmitter_port
|
||||
self.lower_ip = ini_manager.lower_transmitter_ip
|
||||
self.lower_port = ini_manager.lower_transmitter_port
|
||||
|
||||
# 存储最新重量值
|
||||
self.latest_weights = {1: None, 2: None}
|
||||
# 存储连接状态
|
||||
self.connection_status = {1: False, 2: False}
|
||||
# 线程控制
|
||||
self.running = True
|
||||
self.threads = {}
|
||||
# 连接配置
|
||||
self.TIMEOUT = 5 # 连接超时时间
|
||||
self.BUFFER_SIZE = 1024
|
||||
|
||||
# 启动后台接收线程
|
||||
self._start_receiver_threads()
|
||||
|
||||
def _start_receiver_threads(self):
|
||||
"""启动后台接收线程"""
|
||||
for transmitter_id in [1, 2]:
|
||||
if (transmitter_id == 1 and self.upper_ip and self.upper_port) or \
|
||||
(transmitter_id == 2 and self.lower_ip and self.lower_port):
|
||||
thread = threading.Thread(
|
||||
target=self._continuous_receiver,
|
||||
args=(transmitter_id,),
|
||||
daemon=True,
|
||||
name=f'transmitter_receiver_{transmitter_id}'
|
||||
)
|
||||
thread.start()
|
||||
self.threads[transmitter_id] = thread
|
||||
print(f"启动变送器 {transmitter_id} 后台接收线程")
|
||||
|
||||
def _continuous_receiver(self, transmitter_id):
|
||||
"""后台持续接收数据的线程函数"""
|
||||
while self.running:
|
||||
IP = None
|
||||
PORT = None
|
||||
|
||||
if transmitter_id == 1:
|
||||
IP = self.upper_ip
|
||||
PORT = self.upper_port
|
||||
elif transmitter_id == 2:
|
||||
IP = self.lower_ip
|
||||
PORT = self.lower_port
|
||||
|
||||
if not IP or not PORT:
|
||||
time.sleep(5)
|
||||
continue
|
||||
|
||||
sock = None
|
||||
try:
|
||||
# 创建连接
|
||||
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
sock.settimeout(self.TIMEOUT)
|
||||
sock.connect((IP, PORT))
|
||||
self.connection_status[transmitter_id] = True
|
||||
print(f"变送器 {transmitter_id} 连接成功: {IP}:{PORT}")
|
||||
|
||||
# 持续接收数据
|
||||
while self.running:
|
||||
try:
|
||||
data = sock.recv(self.BUFFER_SIZE)
|
||||
if data:
|
||||
# 提取有效数据包
|
||||
packet = self.get_latest_valid_packet(data)
|
||||
if packet:
|
||||
# 解析重量
|
||||
weight = self.parse_weight(packet)
|
||||
if weight is not None:
|
||||
self.latest_weights[transmitter_id] = weight
|
||||
# 可选：打印接收到的重量
|
||||
# print(f"变送器 {transmitter_id} 重量: {weight}")
|
||||
else:
|
||||
# 连接关闭
|
||||
print(f"变送器 {transmitter_id} 连接关闭")
|
||||
break
|
||||
except socket.timeout:
|
||||
# 超时是正常的，继续接收
|
||||
continue
|
||||
except Exception as e:
|
||||
print(f"接收数据异常: {e}")
|
||||
break
|
||||
|
||||
except ConnectionRefusedError:
|
||||
print(f"变送器 {transmitter_id} 连接失败：{IP}:{PORT} 拒绝连接")
|
||||
except Exception as e:
|
||||
print(f"变送器 {transmitter_id} 异常：{e}")
|
||||
finally:
|
||||
self.connection_status[transmitter_id] = False
|
||||
if sock:
|
||||
try:
|
||||
sock.close()
|
||||
except:
|
||||
pass
|
||||
# 重试间隔
|
||||
time.sleep(3)
|
||||
|
||||
# 直接读取 变送器返回的数据（从缓存中获取）
|
||||
def read_data_sub(self, transmitter_id):
|
||||
|
||||
"""
|
||||
Args: transmitter_id 为1 表示上料斗, 为2 表示下料斗
|
||||
return: 读取成功返回重量 weight: int, 失败返回 None
|
||||
"""
|
||||
# 直接返回缓存的最新重量值
|
||||
return self.latest_weights.get(transmitter_id)
|
||||
|
||||
def get_connection_status(self, transmitter_id):
|
||||
"""
|
||||
获取变送器连接状态
|
||||
Args: transmitter_id 为1 表示上料斗, 为2 表示下料斗
|
||||
return: 连接状态 bool
|
||||
"""
|
||||
return self.connection_status.get(transmitter_id, False)
|
||||
|
||||
def stop(self):
|
||||
"""停止后台线程"""
|
||||
self.running = False
|
||||
# 等待线程结束
|
||||
for thread in self.threads.values():
|
||||
if thread.is_alive():
|
||||
thread.join(timeout=2)
|
||||
print("变送器后台接收线程已停止")
|
||||
|
||||
def get_latest_valid_packet(self, raw_data):
|
||||
"""
|
||||
解决TCP粘包:
|
||||
从原始数据中，筛选所有有效包，返回最新的一个有效包
|
||||
有效包标准: 1. 能UTF-8解码 2. 按逗号拆分≥3个字段 3. 第三个字段含数字（重量）
|
||||
"""
|
||||
DELIMITER = b'\r\n'
|
||||
# 1. 按分隔符拆分，过滤空包
|
||||
packets = [p for p in raw_data.split(DELIMITER) if p]
|
||||
if not packets:
|
||||
return None
|
||||
|
||||
valid_packets = []
|
||||
for packet in packets:
|
||||
try:
|
||||
# 过滤无效ASCII字符（只保留可见字符）
|
||||
valid_chars = [c for c in packet if 32 <= c <= 126]
|
||||
filtered_packet = bytes(valid_chars)
|
||||
# 2. 验证解码
|
||||
data_str = filtered_packet.decode('utf-8').strip()
|
||||
# 3. 验证字段数量
|
||||
parts = data_str.split(',')
|
||||
if len(parts) < 3:
|
||||
continue
|
||||
# 4. 验证重量字段含数字
|
||||
weight_part = parts[2].strip()
|
||||
if not any(char.isdigit() for char in weight_part):
|
||||
continue
|
||||
# 满足所有条件，加入有效包列表
|
||||
valid_packets.append(packet)
|
||||
except (UnicodeDecodeError, IndexError):
|
||||
# 解码失败或字段异常，跳过该包
|
||||
continue
|
||||
|
||||
# 返回最后一个有效包（最新），无有效包则返回None
|
||||
return valid_packets[-1] if valid_packets else None
|
||||
|
||||
def parse_weight(self, packet_data):
|
||||
"""解析重量函数：提取重量数值（如从 b'ST,NT,+0000175\r\n' 中提取 175)"""
|
||||
try:
|
||||
data_str = packet_data.decode('utf-8').strip()
|
||||
parts = data_str.split(',')
|
||||
# 确保有完整的数据包，三个字段
|
||||
if len(parts) < 3:
|
||||
print(f"parse_weight: 包格式错误（字段不足）：{data_str}")
|
||||
return None
|
||||
|
||||
weight_part = parts[2].strip()
|
||||
return int(''.join(filter(str.isdigit, weight_part)))
|
||||
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
|
||||
@ -371,6 +371,8 @@ class OmronFinsPollingService:
|
||||
if __name__ == "__main__":
|
||||
def on_data_update(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
|
||||
|
||||
#37振捣室,32在途中,96,98在搅拌楼
|
||||
print(f"[数据回调] 数值: 0x{data:02X} | 十进制: {data:3d} | 二进制: {binary}")
|
||||
|
||||
def on_status_change(old_status: FinsServiceStatus, new_status: FinsServiceStatus, message: str):
|
||||
|
||||
Reference in New Issue
Block a user