feeding

2025-11-17 00:05:40 +08:00
parent f860c5a216
commit e3ecd0550f
55 changed files with 3204 additions and 528 deletions
--- a/feeding/controller.py
+++ b/feeding/controller.py
@ -1,5 +1,6 @@
 # feeding/controller.py
 import time
+from core.state import FeedStatus
 from feeding.process import FeedingProcess
 from busisness.blls import ArtifactBll

@ -49,10 +50,11 @@ class FeedingController:
            self.state._upper_door_position = 'over_lower'
        self.state.upper_weight_error_count = 0
        # 判断是否需要要料：当前重量 < 目标重量 + 缓冲重量
-        if current_weight < (self.settings.single_batch_weight + self.settings.min_required_weight):
-            print("上料斗重量不足，通知搅拌楼要料")
-            self.request_material_from_mixing_building()  # 请求搅拌楼下料
-            return True
+        if self.state.feed_status != FeedStatus.FUpperToLower:
+            if current_weight < (self.settings.min_required_weight):
+                print("上料斗重量不足，通知搅拌楼要料")
+                self.request_material_from_mixing_building()  # 请求搅拌楼下料
+                return True
        return False

    def request_material_from_mixing_building(self):
@ -115,68 +117,89 @@ class FeedingController:
        视觉控制主逻辑
        """
        # 检测是否溢料
-        overflow = self.vision_detector.detect_overflow(current_frame)
-
-        # 获取当前角度
+        self.state.overflow_detected = self.vision_detector.detect_overflow(current_frame)
+        overflow=self.state.overflow_detected in ["大堆料", "小堆料"]
        current_angle = self.vision_detector.detect_angle(image=current_frame)
-
        if current_angle is None:
            print("无法获取当前角度，跳过本次调整")
            return
-
-        print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 控制模式: {self.state.angle_control_mode}")
-
-        # 状态机控制逻辑
-        if self.state.angle_control_mode == "normal":
-            # 正常模式
-            if overflow and current_angle > self.settings.angle_threshold:
-                # 检测到堆料且角度过大，进入角度减小模式
-                print("检测到堆料且角度过大，关闭出砼门开始减小角度")
-                self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
-                self.state.angle_control_mode = "reducing"
-            else:
-                # 保持正常开门
-                self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
-
-        elif self.state.angle_control_mode == "reducing":
-            # 角度减小模式
-            if current_angle <= self.settings.target_angle + self.settings.angle_tolerance:
-                # 角度已达到目标范围
-                if overflow:
-                    # 仍有堆料，进入维持模式
-                    print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
-                    self.state.angle_control_mode = "maintaining"
-                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')  # 先打开门
-                else:
-                    # 无堆料，恢复正常模式
-                    print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
-                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
-                    self.state.angle_control_mode = "normal"
-
-        elif self.state.angle_control_mode == "maintaining":
-            # 维持模式 - 使用脉冲控制
-            if not overflow:
-                # 堆料已消除，恢复正常模式
-                print("堆料已消除，恢复正常模式")
-                self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
-                self.state.angle_control_mode = "normal"
-            else:
-                # 继续维持角度控制
-                self.pulse_control_door_for_maintaining()
-
-        elif self.state.angle_control_mode == "recovery":
-            # 恢复模式 - 逐步打开门
-            if overflow:
-                # 又出现堆料，回到角度减小模式
-                print("恢复过程中又检测到堆料，回到角度减小模式")
-                self.state.angle_control_mode = "maintaining"
-            else:
-                # 堆料已消除，恢复正常模式
-                print("堆料已消除，恢复正常模式")
-                self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
-                self.state.angle_control_mode = "normal"
-
        self.state.last_angle = current_angle
+        print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 溢料返回: {self.state.overflow_detected}")
+        return
+        if self.state.overflow_detected!="浇筑满":
+            if current_angle is None:
+                print("无法获取当前角度，跳过本次调整")
+                return
+
+            print(f"当前角度: {current_angle:.2f}°, 溢料状态: {overflow}, 控制模式: {self.state.angle_control_mode}")
+
+            # 状态机控制逻辑
+            if self.state.angle_control_mode == "normal":
+                # 正常模式大于self.settings.angle_threshold=60度
+                if overflow and current_angle > self.settings.angle_threshold:
+                    # 检测到堆料且角度过大，进入角度减小模式
+                    print("检测到堆料且角度过大，关闭出砼门开始减小角度")
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+                    self.state.angle_control_mode = "reducing"
+                else:
+                    # 保持正常开门
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                    if current_angle >self.settings.target_angle:
+                        # 角度已降至目标范围，关闭出砼门
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+                    else:
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+
+            elif self.state.angle_control_mode == "reducing":
+                # 角度减小模式
+                if current_angle <= self.settings.target_angle + self.settings.angle_tolerance:
+                    # 角度已达到目标范围
+                    if overflow:
+                        # 仍有堆料，进入维持模式
+                        print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
+                        self.state.angle_control_mode = "maintaining"
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open') # 先打开门
+                    else:
+                        # 无堆料，恢复正常模式
+                        print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                        self.state.angle_control_mode = "normal"
+
+            elif self.state.angle_control_mode == "maintaining":
+                # 维持模式 - 使用脉冲控制
+                if not overflow:
+                    # 堆料已消除，恢复正常模式
+                    print("堆料已消除，恢复正常模式")
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                    self.state.angle_control_mode = "normal"
+                else:
+                    # 继续维持角度控制
+                    self.pulse_control_door_for_maintaining()
+
+            elif self.state.angle_control_mode == "recovery":
+                # 恢复模式 - 逐步打开门
+                if overflow:
+                    # 又出现堆料，回到角度减小模式
+                    print("恢复过程中又检测到堆料，回到角度减小模式")
+                    self.state.angle_control_mode = "maintaining"
+                else:
+                    # 堆料已消除，恢复正常模式
+                    print("堆料已消除，恢复正常模式")
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+                    self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+                    self.state.angle_control_mode = "normal"
+        else:
+            self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+            self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
+            time.sleep(5)
+            self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
+      

    def pulse_control_door_for_maintaining(self):
        """
@ -185,8 +208,10 @@ class FeedingController:
        """
        print("执行维持脉冲控制")
        # 关门1秒
-        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
+        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
+        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
        time.sleep(1.0)
        # 开门1秒
-        self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
+        self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
+        self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
        time.sleep(1.0)