233 lines
7.8 KiB
Python
233 lines
7.8 KiB
Python
# core/system.py
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import threading
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import time
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import cv2
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from config.settings import Settings
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from core.state import SystemState
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from hardware.relay import RelayController
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from hardware.inverter import InverterController
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from hardware.transmitter import TransmitterController
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from hardware.RFID.rfid_service import rfid_service
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from vision.camera import CameraController
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from vision.detector import VisionDetector
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from feeding.controller import FeedingController
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class FeedingControlSystem:
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def __init__(self, settings: Settings):
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self.settings = settings
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self.state = SystemState()
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# 初始化硬件控制器
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self.relay_controller = RelayController(
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host=settings.relay_host,
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port=settings.relay_port
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)
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self.inverter_controller = InverterController(self.relay_controller)
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self.transmitter_controller = TransmitterController(self.relay_controller)
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# 初始化视觉系统
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self.camera_controller = CameraController()
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self.vision_detector = VisionDetector(settings)
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# 初始化下料控制器
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self.feeding_controller = FeedingController(
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self.relay_controller,
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self.inverter_controller,
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self.transmitter_controller,
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self.vision_detector,
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self.camera_controller,
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self.rfid_controller,
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self.state,
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settings
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)
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# 初始化RFID控制器
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self.rfid_controller = rfid_service(
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host=settings.rfid_host,
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port=settings.rfid_port
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)
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# 线程管理
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self.monitor_thread = None
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self.visual_control_thread = None
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self.alignment_check_thread = None
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self.lower_feeding_thread = None
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def initialize(self):
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"""初始化系统"""
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print("初始化控制系统...")
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# 设置摄像头配置
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self.camera_controller.set_config(
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camera_type=self.settings.camera_type,
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ip=self.settings.camera_ip,
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port=self.settings.camera_port,
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username=self.settings.camera_username,
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password=self.settings.camera_password,
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channel=self.settings.camera_channel
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)
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# 初始化摄像头
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if not self.camera_controller.setup_capture():
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raise Exception("摄像头初始化失败")
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# 加载视觉模型
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if not self.vision_detector.load_models():
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raise Exception("视觉模型加载失败")
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if not self.check_device_connectivity():
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raise Exception("设备连接失败")
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# 启动系统监控
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self.start_monitoring()
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# 启动视觉控制
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self.start_visual_control()
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# 启动对齐检查
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self.start_alignment_check()
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# 启动下料轮询线程
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self.start_lower_feeding()
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print("控制系统初始化完成")
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def start_monitoring(self):
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"""启动系统监控"""
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self.state.running = True
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self.monitor_thread = threading.Thread(
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target=self._monitor_loop,
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daemon=True
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)
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self.monitor_thread.start()
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def _monitor_loop(self):
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"""监控循环"""
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while self.state.running:
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try:
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self.feeding_controller.check_upper_material_request()
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self.feeding_controller.check_arch_blocking()
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time.sleep(1)
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except Exception as e:
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print(f"监控线程错误: {e}")
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def start_visual_control(self):
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"""启动视觉控制"""
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self.visual_control_thread = threading.Thread(
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target=self._visual_control_loop,
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daemon=True
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)
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self.visual_control_thread.start()
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def _visual_control_loop(self):
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"""视觉控制循环"""
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while self.state.running:
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try:
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current_frame = self.camera_controller.capture_frame()
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if current_frame is not None:
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# 执行视觉控制逻辑
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self.feeding_controller.visual_control(current_frame)
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time.sleep(self.settings.visual_check_interval)
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except Exception as e:
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print(f"视觉控制循环错误: {e}")
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time.sleep(self.settings.visual_check_interval)
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def start_alignment_check(self):
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"""启动对齐检查"""
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self.alignment_check_thread = threading.Thread(
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target=self._alignment_check_loop,
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daemon=True
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)
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self.alignment_check_thread.start()
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def _alignment_check_loop(self):
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"""对齐检查循环"""
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while self.state.running:
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try:
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if self.state._lower_feeding_stage == 4: # 等待对齐阶段
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current_frame = self.camera_controller.capture_frame()
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if current_frame is not None:
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self.state.vehicle_aligned = self.vision_detector.detect_vehicle_alignment(current_frame)
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if self.state.vehicle_aligned:
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print("检测到模具车对齐")
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else:
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print("模具车未对齐")
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time.sleep(self.settings.alignment_check_interval)
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except Exception as e:
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print(f"对齐检查循环错误: {e}")
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time.sleep(self.settings.alignment_check_interval)
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def start_lower_feeding(self):
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"""启动下料流程"""
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self.lower_feeding_thread = threading.Thread(
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target=self._start_lower_feeding,
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name="Feeding",
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daemon=True
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)
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self.lower_feeding_thread.start()
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def _start_lower_feeding(self):
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"""启动下料流程"""
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while self.state.running:
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self.feeding_controller.start_feeding()
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time.sleep(self.settings.lower_feeding_interval)
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def check_device_connectivity(self) -> bool:
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"""检查关键设备连接状态"""
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try:
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# 检查网络继电器连接
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test_response = self.relay_controller.send_command(self.relay_controller.read_status_command)
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if not test_response:
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print("网络继电器连接失败")
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return False
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# 检查变频器连接
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if not self.relay_controller.modbus_client.connect():
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print("无法连接到网络继电器Modbus服务")
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return False
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# 尝试读取变频器一个寄存器（测试连接）
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test_result = self.relay_controller.modbus_client.read_holding_registers(
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address=0x00,
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count=1,
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slave=self.inverter_controller.config['slave_id']
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)
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if isinstance(test_result, Exception):
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print("变频器连接测试失败")
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return False
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# 检查下料斗变送器连接
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test_weight = self.transmitter_controller.read_data(2)
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if test_weight is None:
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print("下料斗变送器连接失败")
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return False
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self.relay_controller.modbus_client.close()
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return True
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except Exception as e:
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print(f"设备连接检查失败: {e}")
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return False
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def stop(self):
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"""停止系统"""
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print("停止控制系统...")
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self.state.running = False
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# 等待线程结束
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if self.monitor_thread:
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self.monitor_thread.join()
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if self.visual_control_thread:
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self.visual_control_thread.join()
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if self.alignment_check_thread:
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self.alignment_check_thread.join()
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if self.lower_feeding_thread:
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self.lower_feeding_thread.join()
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# 释放摄像头资源
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self.camera_controller.release()
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print("控制系统已停止")
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