# hardware/relay.py import socket import binascii import time import threading from pymodbus.exceptions import ModbusException from config.settings import app_set_config class RelayController: # 继电器映射 RING = 'ring' # DO1 - 响铃 UPPER_TO_JBL = 'upper_to_jbl' # DO2 - 上料斗到搅拌楼 UPPER_TO_ZD = 'upper_to_zd' # DO3 - 上料斗到振捣室 # DOOR_UPPER = 'door_upper' # DO0 - 上料斗滑动 DOOR_LOWER_OPEN = 'door_lower_open' # DO1 - 下料斗出砼门开角度 DOOR_LOWER_CLOSE = 'door_lower_close' # DO2 - 下料斗出砼门关角度（角度在7.5以下可关闭信号） DOOR_UPPER_OPEN = 'door_upper_open' # DO3 - 上料斗开 DOOR_UPPER_CLOSE = 'door_upper_close' # DO4 - 上料斗关 BREAK_ARCH_UPPER = 'break_arch_upper' # DO3 - 上料斗震动 BREAK_ARCH_LOWER = 'break_arch_lower' # DO4 - 下料斗震动 DIRECT_LOWER_FRONT = 'direct_lower_front' # DO5 - 下料斗前 DIRECT_LOWER_BEHIND = 'direct_lower_behind' # DO6 - 下料斗后 DIRECT_LOWER_TOP = 'direct_lower_top' # DO7 - 下料斗上 DIRECT_LOWER_BELOW = 'direct_lower_below' # DO8 - 下料斗下 def __init__(self, host='192.168.250.62', port=50000): self.host = host self.port = port # self.modbus_client = ModbusTcpClient(host, port=port) #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 # 继电器命令（原始Socket） self.relay_commands = { self.RING: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'}, self.UPPER_TO_JBL: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'}, self.UPPER_TO_ZD: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'}, self.DOOR_LOWER_OPEN: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'}, self.DOOR_LOWER_CLOSE: {'open': '00000000000601050008FF00', 'close':'000000000006010500080000'}, self.DOOR_UPPER_OPEN: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'}, self.DOOR_UPPER_CLOSE: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}, self.BREAK_ARCH_UPPER: {'open': '0000000000060105000AFF00', 'close': '0000000000060105000A0000'}, self.BREAK_ARCH_LOWER: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'}, self.DIRECT_LOWER_FRONT: {'open': '0000000000060105000DFF00', 'close': '0000000000060105000D0000'}, self.DIRECT_LOWER_BEHIND: {'open': '0000000000060105000BFF00', 'close': '0000000000060105000B0000'}, self.DIRECT_LOWER_TOP: {'open': '0000000000060105000CFF00', 'close': '0000000000060105000C0000'}, self.DIRECT_LOWER_BELOW: {'open': '0000000000060105000EFF00', 'close': '0000000000060105000E0000'} } # 读取状态命令 self.read_status_command = '000000000006010100000008' # 设备位映射 self.device_bit_map = { self.RING: 0, self.UPPER_TO_JBL: 1, self.UPPER_TO_ZD: 2, self.BREAK_ARCH_UPPER: 3, self.BREAK_ARCH_LOWER: 4 } # 添加线程锁，保护对下料斗控制的并发访问 self.door_control_lock = threading.Lock() def send_command(self, command_hex): """发送原始Socket命令""" # if app_set_config.debug_mode: # return None try: byte_data = binascii.unhexlify(command_hex) with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock: sock.connect((self.host, self.port)) sock.send(byte_data) response = sock.recv(1024) # print(f"收到继电器响应: {binascii.hexlify(response)}") return response except Exception as e: print(f"继电器通信错误: {e}") return None def get_status(self): """获取继电器状态""" response = self.send_command(self.read_status_command) status_dict = {} if response and len(response) >= 10: status_byte = response[9] status_bin = f"{status_byte:08b}"[::-1] for key, bit_index in self.device_bit_map.items(): status_dict[key] = status_bin[bit_index] == '1' else: print("读取继电器状态失败") return status_dict def control(self, device, action): """控制继电器""" if device in self.relay_commands and action in self.relay_commands[device]: # print(f"发送控制继电器命令 {device} {action}") self.send_command(self.relay_commands[device][action]) else: print(f"无效设备或动作: {device}, {action}") def control_upper_close(self): """控制上料斗关""" # 关闭上料斗出砼门 self.control(self.DOOR_UPPER_OPEN, 'close') self.control(self.DOOR_UPPER_CLOSE, 'open') # 异步5秒后关闭 threading.Thread(target=self._close_upper_s, daemon=True,name="close_upper_s").start() def control_upper_close_after(self): """控制上料斗关在几秒后""" # 关闭上料斗出砼门 self.control(self.DOOR_UPPER_OPEN, 'close') # 异步5秒后关闭 threading.Thread(target=self._close_upper_after_s, daemon=True,name="close_upper_after_s").start() def control_upper_close_sync(self,duration=5): self.control(self.DOOR_UPPER_OPEN, 'close') self.control(self.DOOR_UPPER_CLOSE, 'open') time.sleep(duration) self.control(self.DOOR_UPPER_CLOSE, 'close') def control_lower_close(self): """控制下料斗关""" thread_name = threading.current_thread().name print(f"[{thread_name}] 尝试控制下料斗关闭") with self.door_control_lock: print(f"[{thread_name}] 获得下料斗控制锁，执行关闭操作") # 关闭下料斗出砼门 self.control(self.DOOR_LOWER_OPEN, 'close') self.control(self.DOOR_LOWER_CLOSE, 'open') time.sleep(3) self.control(self.DOOR_LOWER_CLOSE, 'close') print(f"[{thread_name}] 下料斗关闭完成，释放控制锁") # 异步5秒后关闭 # threading.Thread(target=self._close_lower_5s, daemon=True,name="close_lower_5s").start() def control_upper_open_sync(self,duration): self.control(self.DOOR_UPPER_CLOSE, 'close') self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(duration) self.control(self.DOOR_UPPER_OPEN, 'close') def control_upper_open(self): #关闭信号才能生效 self.control(self.DOOR_UPPER_CLOSE, 'close') self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.2) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.2) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') #保持8秒 time.sleep(8) #8秒后再开5秒 self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') time.sleep(0.1) self.control(self.DOOR_UPPER_OPEN, 'open') time.sleep(0.5) self.control(self.DOOR_UPPER_OPEN, 'close') def control_ring_open(self): """控制下料斗关""" # 关闭下料斗出砼门 self.control(self.RING, 'open') # 异步5秒后关闭 threading.Thread(target=self._close_ring, daemon=True,name="_close_ring").start() def _close_upper_s(self): time.sleep(16) self.control(self.DOOR_UPPER_CLOSE, 'close') print("上料斗关闭完成") def _close_upper_after_s(self): """ 异步5秒后关闭上料斗20秒 """ # time.sleep(5) self.control_arch_upper_open_sync(5) self.control(self.DOOR_UPPER_CLOSE, 'open') time.sleep(1) self.control(self.DOOR_UPPER_CLOSE, 'close') self.control_arch_upper_open_sync(5) # self.control_arch_upper_open_sync(5) self.control_arch_upper_open_async(8) self.control(self.DOOR_UPPER_CLOSE, 'open') time.sleep(20) self.control(self.DOOR_UPPER_CLOSE, 'close') print("上料斗关闭完成") def _close_lower_5s(self): time.sleep(6) self.control(self.DOOR_LOWER_CLOSE, 'close') def _close_ring(self): time.sleep(3) self.control(self.RING, 'close') def control_arch_lower_open(self): """控制下料斗关""" # 关闭下料斗出砼门 self.control(self.BREAK_ARCH_LOWER, 'open') # 异步5秒后关闭 threading.Thread(target=self._close_break_arch_lower, daemon=True,name="_close_break_arch_lower").start() def control_arch_lower_open_sync(self,duration): """控制下料斗振动""" self.control(self.BREAK_ARCH_LOWER, 'open') # 异步5秒后关闭 time.sleep(duration) self.control(self.BREAK_ARCH_LOWER, 'close') def control_arch_upper_open_sync(self,duration): """控制下料斗振动""" self.control(self.BREAK_ARCH_UPPER, 'open') # 异步5秒后关闭 time.sleep(duration) self.control(self.BREAK_ARCH_UPPER, 'close') def _close_break_arch_lower(self): time.sleep(3) self.control(self.BREAK_ARCH_LOWER, 'close') def control_arch_upper_open_async(self,delay_seconds: float = 15): """异步控制上料斗振动 Args: delay_seconds: 延迟关闭时间（秒），默认15秒 """ # 关闭下料斗出砼门 self.control(self.BREAK_ARCH_UPPER, 'open') # 异步5秒后关闭 threading.Thread(target=lambda d: self._close_break_arch_upper(delay_seconds),args=(delay_seconds,), daemon=True, name="_close_break_arch_upper").start() def _close_break_arch_upper(self, delay_seconds: float = 15): time.sleep(delay_seconds) print(f"上料斗振动关闭完成，延迟{delay_seconds}秒") self.control(self.BREAK_ARCH_UPPER, 'close') def control_arch_lower_open_async(self,delay_seconds: float = 15): """异步控制上料斗振动 Args: delay_seconds: 延迟关闭时间（秒），默认15秒 """ # 关闭下料斗出砼门 self.control(self.BREAK_ARCH_LOWER, 'open') # 异步5秒后关闭 threading.Thread(target=lambda d: self._close_break_arch_lower(delay_seconds),args=(delay_seconds,), daemon=True, name="_close_break_arch_lower").start() def _close_break_arch_lower(self, delay_seconds: float = 15): time.sleep(delay_seconds) print(f"下料斗振动关闭完成，延迟{delay_seconds}秒") self.control(self.BREAK_ARCH_LOWER, 'close') def control_upper_to_jbl(self): """控制上料斗到搅拌楼""" self.control(self.UPPER_TO_ZD, 'close') self.control(self.UPPER_TO_JBL, 'open') def control_upper_to_zd(self): """控制上料斗到料斗""" self.control(self.UPPER_TO_JBL, 'close') self.control(self.UPPER_TO_ZD, 'open') def close_all(self): """关闭所有继电器""" self.control(self.UPPER_TO_JBL, 'close') self.control(self.UPPER_TO_ZD, 'close') self.control(self.BREAK_ARCH_UPPER, 'close') self.control(self.BREAK_ARCH_LOWER, 'close') self.control(self.RING, 'close') self.control(self.DOOR_LOWER_OPEN, 'close') self.control(self.DOOR_LOWER_CLOSE, 'close') self.control(self.DOOR_UPPER_OPEN, 'close') self.control(self.DOOR_UPPER_CLOSE, 'close')