feeding
This commit is contained in:
@ -3,6 +3,8 @@ 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
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import time
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from datetime import datetime
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class FeedingProcess:
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def __init__(self, relay_controller, inverter_controller,
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@ -10,6 +12,7 @@ class FeedingProcess:
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camera_controller, state, settings):
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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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@ -17,6 +20,8 @@ class FeedingProcess:
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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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self.settings = settings
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def start_feeding(self):
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@ -26,19 +31,32 @@ class FeedingProcess:
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loc_state.feed_status = FeedStatus.FCheckM
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return
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elif loc_state.feed_status == FeedStatus.FCheckM:
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"""开始生产管片"""
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loc_state._lower_feeding_stage = 4
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self.wait_for_vehicle_alignment()
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loc_state.feed_status = FeedStatus.FStart
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print("生产已检查模车")
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if self.settings.debug_feeding:
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loc_state.feed_status = FeedStatus.FApiCheck
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if self.state.vehicle_aligned:
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loc_state.feed_status = FeedStatus.FCheckGB
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print("检查模车")
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return
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elif loc_state.feed_status == FeedStatus.FApiCheck:
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print("生产已开始")
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time.sleep(2)
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loc_modules = MouldService.get_not_pour_artifacts()
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loc_modules = self.mould_service.get_not_pour_artifacts()
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if loc_modules:
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# 取第一个未浇筑的管片
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#后续放入队列处理
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loc_module = loc_modules[0]
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#API
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loc_module.Source = 1
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loc_module.BeginTime=datetime.now()
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self.artifact_bll.insert_artifact_task(loc_module)
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self.state.current_artifact = loc_module
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# self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,1.92)
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self.state.feed_status = FeedStatus.FCheckGB
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else:
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#未读取到AIP接口数据.
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self.state.current_artifact = None
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@ -71,7 +89,7 @@ class FeedingProcess:
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time.sleep(10)
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loc_state.feed_status = FeedStatus.FUpperToLower
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#计算本次生产需要的总重量
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print(f"本次生产需要的总重量:{self.state.need_total_weight}")
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print(f"本次生产需要的总重量:{self.state._mould_need_weight}")
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return
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elif loc_state.feed_status == FeedStatus.FUpperToLower:
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print("上料斗向下料斗转移")
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@ -80,13 +98,13 @@ class FeedingProcess:
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#下料斗重量
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loc_state.initial_lower_weight=self.transmitter_controller.read_data(2)
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#需要的总重量
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loc_state.need_total_weight=loc_state.current_artifact.BetonVolume*loc_state.density
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if loc_state.need_total_weight > loc_state.initial_upper_weight + loc_state.initial_lower_weight:
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loc_state._mould_need_weight=loc_state.current_artifact.BetonVolume*loc_state.density
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if loc_state._mould_need_weight > loc_state.initial_upper_weight + loc_state.initial_lower_weight:
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# 等待上料斗重量增加(多久不够报警，可能出现F块不足的情况)
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print('重量不够，需要增加')
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return
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if loc_state.need_total_weight>loc_state.initial_lower_weight:
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if loc_state._mould_need_weight>loc_state.initial_lower_weight:
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if self.state._upper_door_position != 'over_lower':
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#是否需要等待上料斗下料,如果下料斗够重量,则不需要等待
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return
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@ -94,32 +112,43 @@ class FeedingProcess:
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# 需要等待上料斗下料
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# 最后一块进行尾数控制
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# 最后一块F块，前面多要0.25,0.3，F块直接下料（先多下0.3后续）
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loc_FWeight=0.3*loc_state.density
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loc_feed_weight=loc_state.need_total_weight-loc_state.initial_lower_weight-loc_FWeight
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self.transfer_material_from_upper_to_lower(loc_state.initial_upper_weight,loc_state.initial_lower_weight,loc_feed_weight)
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self.state.feed_status = FeedStatus.FFeed1
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# loc_FWeight=0.3*loc_state.density
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# loc_feed_weight=loc_state.need_total_weight-loc_state.initial_lower_weight-loc_FWeight
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self.transfer_material_from_upper_to_lower(loc_state.initial_upper_weight,loc_state.initial_lower_weight)
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#完成了上料斗重量转移才进入下料斗
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loc_state.feed_status = FeedStatus.FFeed1
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# time.sleep(10)
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return
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elif self.state.feed_status == FeedStatus.FFeed1:
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elif loc_state.feed_status == FeedStatus.FFeed1:
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#下料
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# self._start_feeding_stage()
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self.feeding_stage_one(loc_state)
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print("下料1")
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return
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elif self.state.feed_status == FeedStatus.FFeed2:
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elif loc_state.feed_status == FeedStatus.FFeed2:
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#上料
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# self._start_feeding_stage()
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self.feeding_stage_two(loc_state)
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print("下料2")
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return
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elif self.state.feed_status == FeedStatus.FFeed3:
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elif loc_state.feed_status == FeedStatus.FFeed3:
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#下料
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# self._start_feeding_stage()
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self.feeding_stage_three(loc_state)
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print("下料3")
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return
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elif self.state.feed_status == FeedStatus.FFinished:
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print("生产已完成")
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self.state.feed_status = FeedStatus.FCheckM
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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("当前批次下料完成，关闭出砼门")
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if loc_state.overflow_detected=="浇筑满":
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self.inverter_controller.control('stop')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close')
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#更新数据库状态
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self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,loc_state._mould_finish_weight/loc_state.density)
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loc_state.feed_status = FeedStatus.FCheckM
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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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@ -127,7 +156,7 @@ class FeedingProcess:
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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,initial_upper_weight,initial_lower_weight,feed_weight):
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def transfer_material_from_upper_to_lower(self,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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@ -186,118 +215,110 @@ class FeedingProcess:
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break
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time.sleep(self.settings.alignment_check_interval)
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def feeding_stage_one(self):
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def feeding_stage_one(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("开始第一阶段下料：下料斗低速下料")
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self.inverter_controller.set_frequency(self.settings.frequencies[0])
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self.inverter_controller.control('start')
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if self.is_first_flag:
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self.inverter_controller.set_frequency(self.settings.frequencies[0])
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self.inverter_controller.control('start')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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# 打开下料斗出砼门
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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# 打开下料斗出砼门
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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loc_cur_weight = self.transmitter_controller.read_data(2)
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if loc_cur_weight is None:
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#报警处理
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print("无法获取初始重量，取消下料")
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# self.finish_feeding_process()
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return
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loc_state.initial_lower_weight=loc_cur_weight
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self.is_first_flag=False
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import time
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start_time = time.time()
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initial_weight = self.transmitter_controller.read_data(2)
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if initial_weight is None:
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print("无法获取初始重量，取消下料")
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self.finish_feeding_process()
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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#报警处理
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print("无法获取当前重量，取消下料")
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# self.finish_feeding_process()
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return
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loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
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target_weight = loc_state._mould_need_weight/3
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target_weight = initial_weight + self.settings.single_batch_weight
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while self.state._lower_feeding_stage == 1:
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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self.state.lower_weight_error_count += 1
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if self.state.lower_weight_error_count >= self.settings.max_error_count:
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print("下料斗传感器连续读取失败，停止下料")
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self.finish_feeding_process()
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return
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else:
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self.state.lower_weight_error_count = 0
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if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
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self.state._lower_feeding_stage = 2
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self.feeding_stage_two()
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break
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time.sleep(2)
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if (current_weight is not None and loc_state._mould_finish_weight >= target_weight) or (time.time() - start_time) > 30:
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loc_state.feed_status = FeedStatus.FFeed2
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loc_state._lower_feeding_stage = 2
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self.is_first_flag=True
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return
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else:
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time.sleep(1)
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def feeding_stage_two(self):
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"""第二阶段下料：下料斗向模具车下料（中速）"""
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print("开始第二阶段下料：下料斗中速下料")
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self.inverter_controller.set_frequency(self.settings.frequencies[1])
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if self.is_first_flag:
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print("开始第二阶段下料：下料斗中速下料")
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self.inverter_controller.set_frequency(self.settings.frequencies[1])
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# 保持下料斗出砼门打开
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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# 保持下料斗出砼门打开
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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# loc_cur_weight = self.transmitter_controller.read_data(2)
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# if loc_cur_weight is None:
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# #报警处理
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# print("无法获取初始重量，取消下料")
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# # self.finish_feeding_process()
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# return
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# loc_state.initial_lower_weight=loc_cur_weight
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self.is_first_flag=False
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import time
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start_time = time.time()
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initial_weight = self.transmitter_controller.read_data(2)
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if initial_weight is None:
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print("无法获取初始重量，取消下料")
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self.finish_feeding_process()
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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#报警处理
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print("无法获取当前重量，取消下料")
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# self.finish_feeding_process()
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return
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target_weight = initial_weight + self.settings.single_batch_weight
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while self.state._lower_feeding_stage == 2:
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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self.state.lower_weight_error_count += 1
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if self.state.lower_weight_error_count >= self.settings.max_error_count:
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print("下料斗传感器连续读取失败，停止下料")
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self.finish_feeding_process()
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return
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else:
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self.state.lower_weight_error_count = 0
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if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
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self.state._lower_feeding_stage = 3
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self.feeding_stage_three()
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break
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time.sleep(2)
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loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
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target_weight = (loc_state._mould_need_weight/3)*2
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if (current_weight is not None and loc_state._mould_finish_weight >= target_weight) or (time.time() - start_time) > 30:
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loc_state.feed_status = FeedStatus.FFeed3
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loc_state._lower_feeding_stage = 3
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self.is_first_flag=True
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return
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else:
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time.sleep(1)
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def feeding_stage_three(self):
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"""第三阶段下料：下料斗向模具车下料（高速）"""
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print("开始第三阶段下料：下料斗高速下料")
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self.inverter_controller.set_frequency(self.settings.frequencies[2])
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# 保持下料斗出砼门打开
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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import time
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start_time = time.time()
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initial_weight = self.transmitter_controller.read_data(2)
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if initial_weight is None:
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print("无法获取初始重量，取消下料")
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self.finish_feeding_process()
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if self.is_first_flag:
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print("开始第三阶段下料：下料斗高速下料")
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self.inverter_controller.set_frequency(self.settings.frequencies[2])
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# 保持下料斗出砼门打开
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'open')
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# 确保上料斗出砼门关闭
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close')
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self.is_first_flag=False
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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#报警处理
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print("无法获取当前重量，取消下料")
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# self.finish_feeding_process()
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return
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target_weight = initial_weight + self.settings.single_batch_weight
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while self.state._lower_feeding_stage == 3:
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current_weight = self.transmitter_controller.read_data(2)
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if current_weight is None:
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self.state.lower_weight_error_count += 1
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if self.state.lower_weight_error_count >= self.settings.max_error_count:
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print("下料斗传感器连续读取失败，停止下料")
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self.finish_feeding_process()
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return
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else:
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self.state.lower_weight_error_count = 0
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if (current_weight is not None and current_weight >= target_weight) or (time.time() - start_time) > 30:
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self.state._lower_feeding_stage = 4
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self.finish_current_batch()
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break
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time.sleep(2)
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loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight
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target_weight = loc_state._mould_need_weight
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if (current_weight is not None and loc_state._mould_finish_weight >= target_weight):
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loc_state.feed_status = FeedStatus.FFinished
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loc_state._lower_feeding_stage = 5
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self.is_first_flag=True
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return
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else:
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time.sleep(1)
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def finish_current_batch(self):
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"""完成当前批次下料"""
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print("当前批次下料完成，关闭出砼门")
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@ -341,5 +362,5 @@ class FeedingProcess:
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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.DOOR_UPPER, 'close')
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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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