from enum import IntEnum from core.state import FeedStatus from service.mould_service import MouldService from busisness.blls import ArtifactBll from busisness.models import ArtifactInfoModel,ArtifactInfo import time from datetime import datetime from hardware.RFID.rfid_service import rfid_service from config.settings import app_set_config class FeedingProcess22: def __init__(self, relay_controller, inverter_controller, transmitter_controller, vision_detector, camera_controller, state): self.relay_controller = relay_controller self.artifact_bll = ArtifactBll() self.mould_service = MouldService() self.inverter_controller = inverter_controller self.transmitter_controller = transmitter_controller self.vision_detector = vision_detector self.camera_controller = camera_controller self.state = state self.state._feed_status = FeedStatus.FCheckM #标志位用，是否是第一次运行 self.is_first_flag=True #RFID服务 self.rfid_service=rfid_service() # self.rfid_service.callback_signal.connect(self._rfid_callback) self.rfid_flag_succ=False self.rfid_data='' # self.rfid_service.start_receiver(self._rfid_callback) def _rfid_callback(self,status,data): try: if status==1: #成功读取到RFID标签 #检查标识是否符号要求 if data: loc_array=data.split(',') if len(loc_array)==4: if self.state.current_artifact is None or loc_array[0]!=self.state.current_artifact.MouldCode: self.rfid_flag_succ=True self.state.current_artifact={ 'MouldCode':loc_array[0], 'BlockNumber':loc_array[1], 'SizeSpecification':loc_array[2], 'BetonVolume':float(loc_array[3]) } print(f"RFID-生产模具车号:{loc_array[0]}") else: print("RFID-生产模具车号与当前模具车号一致") else: print("RFID标签格式错误") print(f"成功读取到RFID标签:{data}") else: self.rfid_flag_succ=False print("读取RFID标签失败") except Exception as e: print(f"RFID回调处理异常: {e}") #读取失败 def start_feeding(self): loc_state=self.state loc_state._upper_weight=self.transmitter_controller.read_data(1) loc_state._lower_weight=self.transmitter_controller.read_data(2) loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1) """开始生产管片""" if loc_state._feed_status == FeedStatus.FNone: # loc_state._feed_status = FeedStatus.FCheckM return elif loc_state._feed_status == FeedStatus.FCheckM: """开始生产管片""" print("检查盖板对齐,") loc_state.lower_feeding_stage = 4 self.rfid_flag_succ=False # if app_set_config.debug_feeding: # loc_state._feed_status = FeedStatus.FApiCheck if self.state.vehicle_aligned: loc_state._feed_status = FeedStatus.FApiCheck print("检查模车") return elif loc_state._feed_status == FeedStatus.FApiCheck: print("————————————————生产已开始————————————————————") # time.sleep(2) #模拟数据 module_obj=ArtifactInfoModel() module_obj.ArtifactID="GR2B13082624F" module_obj.MouldCode="SHR2B2-4" module_obj.BetonVolume=1.9 loc_modules=[module_obj] # loc_modules =self.mould_service.get_not_pour_artifacts() if loc_modules and loc_modules[0].ArtifactID : # 取第一个未浇筑的管片 #后续放入队列处理 loc_module = loc_modules[0] #API loc_module.Source = 1 loc_module.BeginTime=datetime.now() # self.artifact_bll.insert_artifact_task(loc_module) loc_state.current_artifact = loc_module loc_state._mould_need_weight=loc_module.BetonVolume*self.state.density print(f"已获取到未浇筑的管片:{loc_module.MouldCode}") # self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,1.92) loc_state._feed_status = FeedStatus.FCheckGB else: #未读取到AIP接口数据. print("未获取到未浇筑的管片") loc_artifacting_task=self.artifact_bll.get_artifacting_task() if loc_artifacting_task: loc_state.current_artifact = loc_artifacting_task loc_state._mould_need_weight=loc_artifacting_task.BetonVolume*self.state.density loc_state._feed_status = FeedStatus.FCheckGB else: loc_state.current_artifact = None return elif loc_state._feed_status == FeedStatus.FRFID: print("检查RFID") #RFID格式：模具编号,分块号,尺寸规格,方量 while loc_state.running: if self.rfid_flag_succ: loc_state._feed_status = FeedStatus.FCheckGB break else: time.sleep(1) return elif loc_state._feed_status == FeedStatus.FCheckGB: # print("检查盖板对齐,") # time.sleep(5) loc_state._feed_status = FeedStatus.FUpperToLower #计算本次生产需要的总重量 print(f"本次生产需要的总重量:{self.state._mould_need_weight}") return elif loc_state._feed_status == FeedStatus.FUpperToLower: print("上料斗向下料斗转移") #上料斗重量 loc_state.initial_upper_weight=loc_state._upper_weight #下料斗重量 loc_state.initial_lower_weight=loc_state._lower_weight #需要的总重量 # loc_state._mould_need_weight=loc_state.current_artifact.BetonVolume*loc_state.density if loc_state._mould_need_weight > loc_state.initial_upper_weight + loc_state.initial_lower_weight: # 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) print('重量不够，需要增加') return if loc_state._mould_need_weight>loc_state.initial_lower_weight: if self.state._upper_door_position != 'over_lower': #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 return else: # 需要等待上料斗下料 # 最后一块进行尾数控制 # 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） # loc_FWeight=0.3*loc_state.density # loc_feed_weight=loc_state.need_total_weight-loc_state.initial_lower_weight-loc_FWeight self.transfer_material_from_upper_to_lower(loc_state,loc_state.initial_upper_weight,loc_state.initial_lower_weight) #完成了上料斗重量转移才进入下料斗 #测试返回 loc_state._feed_status = FeedStatus.FFeed1 # loc_state._feed_status = FeedStatus.FNone else: loc_state._feed_status = FeedStatus.FFeed1 # time.sleep(10) return elif loc_state._feed_status == FeedStatus.FFeed1: #下料 # self._start_feeding_stage() self.feeding_stage_one(loc_state) print("下料1") return elif loc_state._feed_status == FeedStatus.FFeed2: #上料 # self._start_feeding_stage() self.feeding_stage_two(loc_state) print("下料2") return elif loc_state._feed_status == FeedStatus.FFeed3: #下料 # self._start_feeding_stage() self.feeding_stage_three(loc_state) print("下料3") return elif loc_state._feed_status == FeedStatus.FFinished: """完成当前批次下料""" print("当前批次下料完成，关闭出砼门") if loc_state.overflow_detected=="浇筑满": # self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close') # self.relay_controller.control_upper_close() #更新数据库状态 # self.artifact_bll.finish_artifact_task(loc_state.current_artifact.ArtifactID,loc_state._mould_finish_weight/loc_state.density) print("浇筑完成") # loc_state._feed_status = FeedStatus.FCheckM # if loc_state.mould_vibrate_time>0: # while True: # if loc_state.mould_vibrate_time-time.time()>=5*60: # self.inverter_controller.control('stop') # loc_state._mould_vibrate_status=0 # break # time.sleep(1) print("振捣完成") return def _start_feeding_stage(self): """启动指定下料阶段""" """开始分步下料""" print("开始分步下料过程") self.transfer_material_from_upper_to_lower() def transfer_material_from_upper_to_lower(self,loc_state,initial_upper_weight,initial_lower_weight): """target_upper_weight：转移后剩下的上料斗重量""" # 如果低于单次，全部卸掉 _max_lower_weight=app_set_config.max_lower_volume*loc_state.density # if (initial_lower_weight+feed_weight>_max_lower_weight): feed_weight=_max_lower_weight-initial_lower_weight target_upper_weight=initial_upper_weight-feed_weight target_upper_weight = max(target_upper_weight, 0) # 确保下料斗出砼门关闭 self.relay_controller.control_lower_close() # 打开上料斗出砼门 # self.relay_controller.control_upper_open() self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open') time.sleep(3) loc_state._upper_door_closed=False # 等待物料流入下料斗，基于上料斗重量变化控制 start_time = time.time() # timeout = 30 # 30秒超时 while loc_state.running: # self.relay_controller.control_upper_open_sync() self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'close') current_upper_weight = self.transmitter_controller.read_data(1) # 如果无法读取重量，继续尝试 if current_upper_weight is None: print("无法读取上料斗重量，继续尝试...") time.sleep(1) continue loc_state._upper_weight=current_upper_weight loc_state._upper_volume=round(loc_state._upper_weight/self.state.density,1) print(f"上料斗当前重量: {current_upper_weight:.2f}kg") # 如果达到目标重量，则关闭上料斗出砼门 if current_upper_weight <= target_upper_weight + 50: # 允许50kg的误差范围 print(f"达到目标重量，当前重量: {current_upper_weight:.2f}kg") print(f"花费时间 {time.time() - start_time:.2f}秒") break elif time.time() - start_time > 25: # 如果25秒后重量变化过小 weight_change = initial_upper_weight - current_upper_weight if weight_change < 100: # 如果重量变化小于100kg #需要增加报警处理 print("重量变化过小，可能存在堵塞") time.sleep(1) self.relay_controller.control(self.relay_controller.DOOR_UPPER_OPEN, 'open') time.sleep(0.2) loc_state._upper_door_closed=True # 关闭上料斗出砼门 self.relay_controller.control_upper_close() #测试用 print("上料斗下料完成") def wait_for_vehicle_alignment(self): """等待模具车对齐""" print("等待模具车对齐...") self.state.lower_feeding_stage = 4 import time while self.state.lower_feeding_stage == 4 and self.state.running: if self.state.vehicle_aligned: print("模具车已对齐，开始下料") self.state.lower_feeding_stage = 1 # self.feeding_stage_one() break time.sleep(app_set_config.alignment_check_interval) def feeding_stage_one(self,loc_state): """第一阶段下料：下料斗向模具车下料（低速）""" print("开始第一阶段下料：下料斗低速下料") if self.is_first_flag: # self.inverter_controller.set_frequency(app_set_config.frequencies[0]) # self.inverter_controller.control('start') loc_state.mould_vibrate_time=time() loc_state._mould_frequency=app_set_config.frequencies[0] loc_state._mould_vibrate_status=1 # 确保上料斗出砼门关闭 # self.relay_controller.control(self.relay_controller.DOOR_UPPER_CLOSE, 'close') # 打开下料斗出砼门 self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open') loc_cur_weight = loc_state._lower_weight if loc_cur_weight is None: #报警处理 print("无法获取初始重量，取消下料") # self.finish_feeding_process() return loc_state.initial_lower_weight=loc_cur_weight self.is_first_flag=False start_time = time.time() current_weight = loc_state._lower_weight if current_weight is None: #报警处理 print("无法获取当前重量，取消下料") # self.finish_feeding_process() return loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight target_weight = loc_state._mould_need_weight/3 # or (time.time() - start_time) > 30 if (current_weight is not None and loc_state._mould_finish_weight >= target_weight): loc_state._feed_status = FeedStatus.FFeed2 loc_state.lower_feeding_stage = 2 self.is_first_flag=True return else: time.sleep(1) def feeding_stage_two(self,loc_state): """第二阶段下料：下料斗向模具车下料（中速）""" if self.is_first_flag: print("开始第二阶段下料：下料斗中速下料") # self.inverter_controller.set_frequency(app_set_config.frequencies[1]) # self.inverter_controller.control('start') # 保持下料斗出砼门打开 # self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open') # 确保上料斗出砼门关闭 self.relay_controller.control_upper_close() loc_state._mould_frequency=app_set_config.frequencies[1] loc_state._mould_vibrate_status=1 # loc_cur_weight = self.transmitter_controller.read_data(2) # if loc_cur_weight is None: # #报警处理 # print("无法获取初始重量，取消下料") # # self.finish_feeding_process() # return # loc_state.initial_lower_weight=loc_cur_weight self.is_first_flag=False start_time = time.time() current_weight = loc_state._lower_weight if current_weight is None: #报警处理 print("无法获取当前重量，取消下料") # self.finish_feeding_process() return loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight target_weight = (loc_state._mould_need_weight/3)*2 # or (time.time() - start_time) > 30 if (current_weight is not None and loc_state._mould_finish_weight >= target_weight): loc_state._feed_status = FeedStatus.FFeed3 loc_state.lower_feeding_stage = 3 self.is_first_flag=True return else: time.sleep(1) def feeding_stage_three(self,loc_state): """第三阶段下料：下料斗向模具车下料（高速）""" if self.is_first_flag: print("开始第三阶段下料：下料斗高速下料") # self.inverter_controller.set_frequency(app_set_config.frequencies[2]) # self.inverter_controller.control('start') loc_state._mould_frequency=app_set_config.frequencies[2] # 保持下料斗出砼门打开 # self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open') # 确保上料斗出砼门关闭 self.relay_controller.control_upper_close() self.is_first_flag=False current_weight = loc_state._lower_weight if current_weight is None: #报警处理 print("无法获取当前重量，取消下料") # self.finish_feeding_process() return loc_state._mould_finish_weight=loc_state.initial_lower_weight-current_weight target_weight = loc_state._mould_need_weight if (current_weight is not None and loc_state._mould_finish_weight >= target_weight): loc_state._feed_status = FeedStatus.FFinished loc_state.lower_feeding_stage = 5 self.is_first_flag=True return else: time.sleep(1) def finish_current_batch(self): """完成当前批次下料""" print("当前批次下料完成，关闭出砼门") # self.inverter_controller.control('stop') self.relay_controller.control(self.relay_controller.DOOR_LOWER_1, 'close') self.relay_controller.control(self.relay_controller.DOOR_LOWER_2, 'close') # 增加三阶段下料轮次计数 self.state.lower_feeding_cycle += 1 # 检查是否完成两轮三阶段下料 if self.state.lower_feeding_cycle >= self.state.upper_feeding_max: print("完成两轮三阶段下料，5吨下料任务完成") self.finish_feeding_process() return # 如果只完成一轮三阶段下料，进行第二次上料 print("第一轮三阶段下料完成，准备第二次上料") # 上料斗第二次向下料斗下料 try: self.transfer_material_from_upper_to_lower() except Exception as e: print(f"第二次上料失败: {e}") print("停止下料流程") self.finish_feeding_process() # 出现严重错误时结束整个流程 return # 继续等待当前模具车对齐（不需要重新等待对齐，因为是同一辆模具车） print("第二次上料完成，继续三阶段下料") self.state.lower_feeding_stage = 1 # 直接进入第一阶段下料 self.feeding_stage_one() # 开始第二轮第一阶段下料 def finish_feeding_process(self): """完成整个下料流程""" print("整个下料流程完成") self.state.lower_feeding_stage = 0 self.state.lower_feeding_cycle = 0 self.state.upper_feeding_count = 0 # self.return_upper_door_to_default() 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'