134 lines
4.6 KiB
Python
134 lines
4.6 KiB
Python
# main.py
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import time
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from config.settings import app_set_config
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from core.system import FeedingControlSystem
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from hardware import relay
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from hardware.relay import RelayController
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import threading
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import time
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import cv2
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import os
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from core.state import FeedStatus
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def main():
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system = FeedingControlSystem()
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system.relay_controller.close_all()
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# 启动视觉控制
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# system.camera_controller.start_cameras()
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# system.start_visual_control()
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system.state._feed_status = FeedStatus.FCheckM
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system.start_lower_feeding()
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system.state.overflow_detected='未堆料'
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system.initialize()
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while True:
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time.sleep(5)
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# time.sleep(1)
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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# system.vision_detector.detect_angle()
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# while True:
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# system.feeding_controller.pulse_control_door_for_maintaining()
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# time.sleep(5)
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# system.state.vehicle_aligned=True
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#假设在 fertilize room
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# system.state._upper_door_position='over_lower'
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# while True:
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# system.feeding_controller.pulse_control_door_for_maintaining()
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# time.sleep(4)
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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# 加载配置
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# 初始化系统
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
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# time.sleep(1)
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
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# replay_controller.control(replay_controller.DOOR_LOWER_CLOSE, 'close')
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# replay_controller.control_upper_open()
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'open')
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# time.sleep(5)
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# replay_controller.control(replay_controller.DOOR_LOWER_OPEN, 'close')
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# image=cv2.imread(os.path.join(app_set_config.project_root,'test.jpeg'))
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# image=cv2.flip(image, 0)
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# cv2.imshow('test',image)
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# cv2.waitKey(1)
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# replay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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# system.state._feed_status=FeedStatus.FCheckM
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# cv2.namedWindow("控制系统", cv2.WND_PROP_VISIBLE)
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# cv2.setWindowProperty("控制系统", cv2.WND_PROP_VISIBLE, 0)
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# while True:
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# key = cv2.waitKey(100) & 0xFF
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# if key == ord('q') or key == 27: # 'q'键或ESC键
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# print("接收到退出信号，正在关闭系统...")
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# break
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# time.sleep(1) # 减少CPU占用
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# replay_controller.close_all()
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
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# time.sleep(5)
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# system.relay_controller.control_upper_close()
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# system.relay_controller.control(system.relay_controller, 'close')
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
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# system.camera_controller.start_cameras()
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# loc_all_close=True
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# if loc_all_close:
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# relay=RelayController()
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# relay.control(relay.UPPER_TO_JBL, 'close')
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# relay.control(relay.UPPER_TO_ZD, 'close')
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# relay.control(relay.DOOR_LOWER_OPEN, 'close')
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# relay.control(relay.DOOR_LOWER_CLOSE, 'close')
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# relay.control(relay.DOOR_UPPER_OPEN, 'close')
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# relay.control(relay.DOOR_UPPER_CLOSE, 'close')
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# relay.control(relay.BREAK_ARCH_UPPER, 'close')
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# relay.control(relay.BREAK_ARCH_LOWER, 'close')
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# time.sleep(2)
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# system._alignment_check_loop()
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
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# time.sleep(2)
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'close')
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# time.sleep(2)
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
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# time.sleep(2)
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# system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
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# time.sleep(5)
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# system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'close')
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# system._visual_control_loop()
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# system.transmitter_controller.test_upper_weight=2*2500
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# system.transmitter_controller.test_lower_weight=1000
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# system.state.vehicle_aligned=True
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# # 启动调整线程
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# weight_thread = threading.Thread(target=adjust_weights, args=(system,), daemon=True)
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# weight_thread.start()
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# system.state._upper_door_position='over_lower'
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# system._start_lower_feeding()
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if __name__ == "__main__":
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main()
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