190 lines
7.8 KiB
Python
190 lines
7.8 KiB
Python
from PySide6.QtCore import QTimer, Signal, QObject, Slot
|
||
import threading
|
||
from hardware.transmitter import TransmitterController
|
||
from hardware.relay import RelayController
|
||
from view.widgets.hopper_widget import HopperWidget
|
||
from view.widgets.conveyor_system_widget import ConveyorSystemWidget
|
||
from enum import Enum
|
||
|
||
class UpperHopperPosition(Enum):
|
||
"""上料斗位置
|
||
- MIXING_TOWER: 搅拌楼处，对应数值 66
|
||
- VIBRATION_CHAMBER: 振捣室处，对应数值 5
|
||
"""
|
||
MIXING_TOWER = 66 # 搅拌楼处
|
||
VIBRATION_CHAMBER = 5 # 振捣室处
|
||
|
||
# 信号类：后台线程向主线程传递数据
|
||
class HopperSignals(QObject):
|
||
upper_weight_updated = Signal(int) # 上料斗重量更新信号
|
||
|
||
class HopperController:
|
||
def __init__(self, hopper_view:HopperWidget, conveyor_view:ConveyorSystemWidget):
|
||
self.hopper_view = hopper_view
|
||
self.conveyor_view = conveyor_view # 控制传送带中的上料斗
|
||
|
||
self.signals = HopperSignals() # 信号
|
||
|
||
# 下料斗夹爪测试用例数据
|
||
# 注意：目前只控制 下料斗的夹爪角度变化
|
||
self.angle = 10.33 # 夹爪当前角度
|
||
self.max_angle = 60.00 # 夹爪最大张开角度
|
||
self.min_angle = 10.00 # 夹爪最小张开角度
|
||
self.is_add = True # 角度增加/减小 控制
|
||
self.timer_angle = QTimer() # 角度更新定时器
|
||
self.timer_angle.setInterval(1000) # 1秒更新一次角度
|
||
|
||
# 重量读取定时器
|
||
# self.timer_weight = QTimer() # 重量读取定时器
|
||
# self.timer_weight.setInterval(2000) # 每2秒读取一次重量
|
||
|
||
# 绑定信号
|
||
self._connect_signals()
|
||
|
||
# 开启定时器
|
||
self.timer_angle.start()
|
||
# self.timer_weight.start()
|
||
|
||
def _connect_signals(self):
|
||
# 更新上料斗重量
|
||
self.signals.upper_weight_updated.connect(self.onUpdateUpperHopperWeight)
|
||
|
||
# 上料斗重量定时读取
|
||
# self.timer_weight.timeout.connect(self.handleReadUpperHopperWeight)
|
||
|
||
# 下料斗夹爪定时更新
|
||
self.timer_angle.timeout.connect(self.handleLowerClampAngleUpdate)
|
||
|
||
# 上料斗 "开"按钮点击
|
||
self.hopper_view.upper_open_btn.clicked.connect(self.onUpperClampOpenBottonClicked)
|
||
|
||
# 上料斗 "破拱"按钮
|
||
self.hopper_view.upper_arch_breaking_signal.connect(self.onUpperArchBreaking)
|
||
|
||
# 下料斗 "开"按钮点击
|
||
self.hopper_view.lower_open_btn.clicked.connect(self.onLowerClampOpenBottonClicked)
|
||
|
||
# 下料斗 "破拱"按钮
|
||
self.hopper_view.lower_arch_breaking_signal.connect(self.onLowerArchBreaking)
|
||
|
||
def handleLowerClampAngleUpdate(self):
|
||
"""处理下料斗夹爪开合"""
|
||
# 角度增减逻辑
|
||
if self.is_add:
|
||
self.angle += 1.22
|
||
else:
|
||
self.angle -= 1.33
|
||
|
||
# 边界控制
|
||
if self.angle > self.max_angle:
|
||
self.is_add = False
|
||
self.angle = self.max_angle
|
||
if self.angle <= self.min_angle:
|
||
self.is_add = True
|
||
self.angle = self.min_angle
|
||
|
||
# 更新下料斗夹爪角度
|
||
self.onUpdateLowerClampAngle(self.angle)
|
||
|
||
@Slot(int)
|
||
def onUpdateUpperHopperWeight(self, weight:int):
|
||
"更新上料斗重量"
|
||
self.hopper_view.setUpperHopperWeight(weight)
|
||
|
||
# 注意：此时需要同步更新传送带中的上料斗的重量
|
||
self.conveyor_view.setConveyorHopperWeight(weight)
|
||
|
||
@Slot(int)
|
||
def onUpdateLowerHopperWeight(self, weight:int):
|
||
"更新下料斗重量"
|
||
self.hopper_view.setLowerHopperWeight(weight)
|
||
|
||
@Slot()
|
||
def handleReadUpperHopperWeight(self):
|
||
# 后台读取上料斗重量
|
||
def upper_weight_task():
|
||
loc_tra = TransmitterController(RelayController())
|
||
# 上料斗重量 (目前只有上料斗安装变送器， 可以读取到重量)
|
||
upper_weight = loc_tra.read_data(1)
|
||
# 发送信号到主线程更新UI
|
||
if upper_weight is not None:
|
||
self.signals.upper_weight_updated.emit(upper_weight)
|
||
|
||
threading.Thread(target=upper_weight_task, daemon=True).start()
|
||
|
||
@Slot(float)
|
||
def onUpdateLowerClampAngle(self, angle:float):
|
||
"""更新下料斗夹爪角度"""
|
||
self.hopper_view.setLowerHopperOpeningAngle(angle)
|
||
|
||
@Slot(float)
|
||
def onUpdateUpperClampAngle(self, angle:float):
|
||
"""更新上料斗夹爪角度"""
|
||
self.hopper_view.setUpperHopperClampAngle(angle)
|
||
|
||
@Slot()
|
||
def onUpperClampOpenBottonClicked(self):
|
||
# 上料斗 夹爪 "开"按钮点击
|
||
print("hopper_controller: onUpperClampOpenBottonClicked")
|
||
# 测试上料斗夹爪，6秒打开60度
|
||
self.hopper_view.upper_clamp_widget.testAnimation(target_angle=60, duration=10)
|
||
|
||
@Slot(int)
|
||
def onUpdateUpperClampStatus(self, status:int):
|
||
# 上料斗夹爪状态 1表示打开，0表示关闭
|
||
if status:
|
||
# 执行上料斗夹爪打开动画
|
||
self.hopper_view.upper_clamp_widget.testAnimation(target_angle=60, duration=10)
|
||
else:
|
||
# 执行上料斗夹爪关闭动画
|
||
self.hopper_view.upper_clamp_widget.testAnimation(target_angle=0, duration=10)
|
||
|
||
def onUpdateUpperHopperPosition(self, position:int):
|
||
# 上料斗位置
|
||
if position == UpperHopperPosition.MIXING_TOWER.value: # 上料斗到达搅拌楼，值为66
|
||
# 上料斗在搅拌楼下
|
||
self.hopper_view.hideUpperHopper() # 隐藏非传送带处的上料斗
|
||
self.conveyor_view.moveHopperBelowMixer() # 传送带处的上料斗移动到搅料楼下
|
||
self.conveyor_view.showHopper() # 显示传送带处的上料斗
|
||
elif position == UpperHopperPosition.VIBRATION_CHAMBER.value: # 上料斗就绪，到达振捣室，值为5
|
||
# 上料斗在振捣室处
|
||
self.conveyor_view.hideHopper() # 隐藏传送带处的上料斗
|
||
self.hopper_view.upper_clamp_widget.set_angle(0) # 上料斗夹爪角度设置为0，此时上料斗一定是关闭的
|
||
self.hopper_view.showUpperHopper() # 显示非传送带处的上料斗
|
||
else:
|
||
# 上料斗在途中
|
||
self.hopper_view.hideUpperHopper() # 隐藏非传送带处的上料斗 (下料斗处对应的上料斗叫非传送带处上料斗)
|
||
self.conveyor_view.moveHopperToTransition() # 传送带处上料斗移动到中间过渡位置
|
||
self.conveyor_view.showHopper() # 显示传送带处的上料斗
|
||
|
||
@Slot(bool)
|
||
def onUpperArchBreaking(self, status:bool):
|
||
"""上料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
|
||
print("hopper_controller: onUpperArchBreaking ", status)
|
||
|
||
@Slot(int)
|
||
def onUpperHopperStatusChanged(self, status:int):
|
||
"""上料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
|
||
# 料斗中的状态指示器
|
||
self.hopper_view.setUpperHopperStatus(status)
|
||
|
||
@Slot(float)
|
||
def onUpdateUpperHopperVolume(self, volume: float):
|
||
"""更新上料斗显示的方量，如: 2.0"""
|
||
self.hopper_view.setUpperHopperVolume(volume)
|
||
|
||
@Slot()
|
||
def onLowerClampOpenBottonClicked(self):
|
||
# 下料斗 夹爪 "开"按钮点击
|
||
print("hopper_controller: onLowerClampOpenBottonClicked")
|
||
|
||
@Slot(bool)
|
||
def onLowerArchBreaking(self, status:bool):
|
||
"""下料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
|
||
print("hopper_controller: onLowerArchBreaking ", status)
|
||
|
||
@Slot(int)
|
||
def onLowerHopperStatusChanged(self, status:int):
|
||
"""下料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
|
||
# 料斗中的状态指示器
|
||
self.hopper_view.setLowerHopperStatus(status) |