128 lines
5.0 KiB
Python
128 lines
5.0 KiB
Python
from opcua import Client, ua
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import traceback
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import threading
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import time
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class OPCAngleUploader:
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"""下料斗夹爪角度上传OPC"""
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def __init__(self, opc_server_url="opc.tcp://localhost:4840/zjsh_feed/server/",
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angle_node_id = "ns=2;i=13", upload_interval=0.5,
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angle_threshold=5.0, angle_min = 3.0):
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# OPC服务器配置
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self.opc_server_url = opc_server_url
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self.upload_interval = upload_interval # 固定0.5秒上传
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self.angle_threshold = angle_threshold # 角度变化阈值(超过阈值才更新角度)
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self.angle_min = angle_min # 角度最小值(低于该值为误判的角度，不更新)
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# 配置 lower_angle 节点ID（ns=2;i=13）
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self.angle_node_id = angle_node_id # lower_angle节点ID
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self.angle_node = None # 缓存节点对象，避免重复获取
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# 线程安全相关
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self.latest_angle = None # 最新角度缓存
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self.last_uploaded_angle = None # 上一次成功上传opc的角度
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self.angle_lock = threading.Lock() # 角度读写锁
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self.exit_event = threading.Event() # 线程退出信号
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self.upload_thread = None # 上传线程
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# OPC客户端状态
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self.opc_client = None
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self.is_connected = False
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def connect_opc(self):
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"""连接OPC服务器, 获取lower_angle节点对象"""
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try:
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# 关闭旧连接
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if self.opc_client:
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try:
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self.opc_client.disconnect()
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except:
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pass
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# 初始化客户端并连接
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self.opc_client = Client(self.opc_server_url)
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self.opc_client.connect()
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# 获取目标节点（仅获取一次，提升效率）
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self.angle_node = self.opc_client.get_node(self.angle_node_id)
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self.is_connected = True
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# print(f"[OPC] 连接成功，已获取节点：{self.angle_node_id}（lower_angle）")
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return True
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except Exception as e:
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print(f"[OPC] 连接/获取节点失败：{e}")
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self.is_connected = False
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self.angle_node = None
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return False
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def update_angle(self, angle):
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"""线程安全更新最新角度值"""
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with self.angle_lock:
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self.latest_angle = angle
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def _upload_worker(self):
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"""上传线程核心: 每隔0.5秒写入角度节点"""
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# 初始连接（失败则5秒重试）
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while not self.exit_event.is_set() and not self.connect_opc():
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# print(f"[OPC] 初始连接失败，5秒后重试...")
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time.sleep(5)
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# 循环上传
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while not self.exit_event.is_set():
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try:
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# 连接失效则重连
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if not self.is_connected or not self.angle_node:
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self.connect_opc()
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time.sleep(1)
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continue
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# 线程安全读取角度
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with self.angle_lock:
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current_angle = self.latest_angle
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last_angle = self.last_uploaded_angle
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if current_angle is None:
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time.sleep(self.upload_interval)
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continue
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need_upload = False
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if last_angle is None:
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need_upload = True
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else:
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angle_diff = abs(float(current_angle) - float(last_angle))
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if angle_diff >= self.angle_threshold:
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need_upload = True
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# 写入角度到OPC节点
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if need_upload and current_angle > self.angle_min:
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angle_variant = ua.Variant(float(current_angle), ua.VariantType.Float)
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self.angle_node.set_value(angle_variant)
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# 更新上一次上传的角度
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with self.angle_lock:
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self.last_uploaded_angle = current_angle
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# 0.5秒间隔
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time.sleep(self.upload_interval)
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except Exception as e:
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print(f"[OPC] 上传异常：{e}")
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traceback.print_exc()
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self.is_connected = False # 标记连接失效，触发重连
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time.sleep(1)
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def start_upload(self):
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"""启动上传线程（守护线程，随进程退出）"""
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if not self.upload_thread or not self.upload_thread.is_alive():
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self.exit_event.clear()
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self.upload_thread = threading.Thread(target=self._upload_worker, daemon=True)
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self.upload_thread.start()
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def stop_upload(self):
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"""停止线程并关闭OPC连接"""
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self.exit_event.set()
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if self.upload_thread and self.upload_thread.is_alive():
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self.upload_thread.join(timeout=2)
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if self.opc_client:
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try:
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self.opc_client.disconnect()
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except:
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pass
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self.is_connected = False |