315 lines
13 KiB
Python
315 lines
13 KiB
Python
# hardware/relay.py
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import socket
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import binascii
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import time
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import threading
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from pymodbus.client import ModbusTcpClient
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from pymodbus.exceptions import ModbusException
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from config.settings import app_set_config
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class RelayController:
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# 继电器映射
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RING = 'ring' # DO1 - 响铃
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UPPER_TO_JBL = 'upper_to_jbl' # DO2 - 上料斗到搅拌楼
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UPPER_TO_ZD = 'upper_to_zd' # DO3 - 上料斗到振捣室
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# DOOR_UPPER = 'door_upper' # DO0 - 上料斗滑动
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DOOR_LOWER_OPEN = 'door_lower_open' # DO1 - 下料斗出砼门开角度
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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）
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DOOR_UPPER_OPEN = 'door_upper_open' # DO3 - 上料斗开
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DOOR_UPPER_CLOSE = 'door_upper_close' # DO4 - 上料斗关
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BREAK_ARCH_UPPER = 'break_arch_upper' # DO3 - 上料斗震动
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BREAK_ARCH_LOWER = 'break_arch_lower' # DO4 - 下料斗震动
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DIRECT_LOWER_FRONT = 'direct_lower_front' # DO5 - 下料斗前
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DIRECT_LOWER_BEHIND = 'direct_lower_behind' # DO6 - 下料斗后
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DIRECT_LOWER_TOP = 'direct_lower_top' # DO7 - 下料斗上
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DIRECT_LOWER_BELOW = 'direct_lower_below' # DO8 - 下料斗下
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def __init__(self, host='192.168.250.62', port=50000):
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self.host = host
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self.port = port
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self.modbus_client = ModbusTcpClient(host, port=port)
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#遥1 DO 7 左 DO8 右 角度 摇2：DO 15下 13上 12 往后 14往前 下料斗DO7开 D09关
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# 继电器命令（原始Socket）
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self.relay_commands = {
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self.RING: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
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self.UPPER_TO_JBL: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
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self.UPPER_TO_ZD: {'open': '00000000000601050002FF00', 'close': '000000000006010500020000'},
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self.DOOR_LOWER_OPEN: {'open': '00000000000601050006FF00', 'close': '000000000006010500060000'},
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self.DOOR_LOWER_CLOSE: {'open': '00000000000601050008FF00', 'close':'000000000006010500080000'},
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self.DOOR_UPPER_OPEN: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
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self.DOOR_UPPER_CLOSE: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'},
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self.BREAK_ARCH_UPPER: {'open': '0000000000060105000AFF00', 'close': '0000000000060105000A0000'},
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self.BREAK_ARCH_LOWER: {'open': '00000000000601050005FF00', 'close': '000000000006010500050000'},
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self.DIRECT_LOWER_FRONT: {'open': '0000000000060105000DFF00', 'close': '0000000000060105000D0000'},
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self.DIRECT_LOWER_BEHIND: {'open': '0000000000060105000BFF00', 'close': '0000000000060105000B0000'},
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self.DIRECT_LOWER_TOP: {'open': '0000000000060105000CFF00', 'close': '0000000000060105000C0000'},
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self.DIRECT_LOWER_BELOW: {'open': '0000000000060105000EFF00', 'close': '0000000000060105000E0000'}
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}
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# 读取状态命令
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self.read_status_command = '000000000006010100000008'
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# 设备位映射
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self.device_bit_map = {
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self.RING: 0,
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self.UPPER_TO_JBL: 1,
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self.UPPER_TO_ZD: 2,
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self.BREAK_ARCH_UPPER: 3,
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self.BREAK_ARCH_LOWER: 4
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}
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# 添加线程锁，保护对下料斗控制的并发访问
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self.door_control_lock = threading.Lock()
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def send_command(self, command_hex):
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"""发送原始Socket命令"""
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# if app_set_config.debug_mode:
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# return None
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try:
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byte_data = binascii.unhexlify(command_hex)
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
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sock.connect((self.host, self.port))
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sock.send(byte_data)
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response = sock.recv(1024)
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# print(f"收到继电器响应: {binascii.hexlify(response)}")
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return response
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except Exception as e:
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print(f"继电器通信错误: {e}")
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return None
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def get_status(self):
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"""获取继电器状态"""
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response = self.send_command(self.read_status_command)
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status_dict = {}
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if response and len(response) >= 10:
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status_byte = response[9]
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status_bin = f"{status_byte:08b}"[::-1]
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for key, bit_index in self.device_bit_map.items():
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status_dict[key] = status_bin[bit_index] == '1'
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else:
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print("读取继电器状态失败")
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return status_dict
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def control(self, device, action):
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"""控制继电器"""
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if device in self.relay_commands and action in self.relay_commands[device]:
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# print(f"发送控制继电器命令 {device} {action}")
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self.send_command(self.relay_commands[device][action])
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else:
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print(f"无效设备或动作: {device}, {action}")
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def control_upper_close(self):
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"""控制上料斗关"""
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# 关闭上料斗出砼门
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self.control(self.DOOR_UPPER_OPEN, 'close')
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self.control(self.DOOR_UPPER_CLOSE, 'open')
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# 异步5秒后关闭
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threading.Thread(target=self._close_upper_s, daemon=True,name="close_upper_s").start()
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def control_upper_close_after(self):
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"""控制上料斗关在几秒后"""
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# 关闭上料斗出砼门
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self.control(self.DOOR_UPPER_OPEN, 'close')
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# 异步5秒后关闭
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threading.Thread(target=self._close_upper_after_s, daemon=True,name="close_upper_after_s").start()
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def control_upper_close_sync(self,duration=5):
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self.control(self.DOOR_UPPER_OPEN, 'close')
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self.control(self.DOOR_UPPER_CLOSE, 'open')
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time.sleep(duration)
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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def control_lower_close(self):
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"""控制下料斗关"""
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thread_name = threading.current_thread().name
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print(f"[{thread_name}] 尝试控制下料斗关闭")
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with self.door_control_lock:
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print(f"[{thread_name}] 获得下料斗控制锁，执行关闭操作")
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# 关闭下料斗出砼门
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self.control(self.DOOR_LOWER_OPEN, 'close')
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self.control(self.DOOR_LOWER_CLOSE, 'open')
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time.sleep(3)
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self.control(self.DOOR_LOWER_CLOSE, 'close')
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print(f"[{thread_name}] 下料斗关闭完成，释放控制锁")
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# 异步5秒后关闭
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# threading.Thread(target=self._close_lower_5s, daemon=True,name="close_lower_5s").start()
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def control_upper_open_sync(self,duration):
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(duration)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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def control_upper_close_sync(self,duration):
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thread_name = threading.current_thread().name
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print(f"[{thread_name}] 尝试执行上料斗同步关闭，实际操作下料斗")
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with self.door_control_lock:
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print(f"[{thread_name}] 获得下料斗控制锁，执行同步关闭操作")
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self.control(self.DOOR_UPPER_OPEN, 'close')
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self.control(self.DOOR_UPPER_CLOSE, 'open')
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time.sleep(duration)
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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print(f"[{thread_name}] 同步关闭操作完成，释放控制锁")
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def control_upper_open(self):
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#关闭信号才能生效
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.2)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.2)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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#保持8秒
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time.sleep(8)
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#8秒后再开5秒
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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time.sleep(0.1)
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self.control(self.DOOR_UPPER_OPEN, 'open')
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time.sleep(0.5)
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self.control(self.DOOR_UPPER_OPEN, 'close')
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def control_ring_open(self):
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"""控制下料斗关"""
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# 关闭下料斗出砼门
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self.control(self.RING, 'open')
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# 异步5秒后关闭
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threading.Thread(target=self._close_ring, daemon=True,name="_close_ring").start()
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def _close_upper_s(self):
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time.sleep(16)
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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print("上料斗关闭完成")
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def _close_upper_after_s(self):
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"""
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异步5秒后关闭上料斗20秒
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"""
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# time.sleep(5)
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self.control_arch_upper_open_sync(5)
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self.control(self.DOOR_UPPER_CLOSE, 'open')
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time.sleep(1)
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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self.control_arch_upper_open_sync(5)
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self.control_arch_upper_open_sync(5)
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self.control_arch_upper_open_async(8)
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self.control(self.DOOR_UPPER_CLOSE, 'open')
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time.sleep(20)
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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print("上料斗关闭完成")
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def _close_lower_5s(self):
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time.sleep(6)
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self.control(self.DOOR_LOWER_CLOSE, 'close')
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def _close_ring(self):
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time.sleep(3)
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self.control(self.RING, 'close')
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def control_arch_lower_open(self):
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"""控制下料斗关"""
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# 关闭下料斗出砼门
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self.control(self.BREAK_ARCH_LOWER, 'open')
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# 异步5秒后关闭
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threading.Thread(target=self._close_break_arch_lower, daemon=True,name="_close_break_arch_lower").start()
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def control_arch_lower_open_sync(self,duration):
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"""控制下料斗振动"""
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self.control(self.BREAK_ARCH_LOWER, 'open')
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# 异步5秒后关闭
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time.sleep(duration)
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self.control(self.BREAK_ARCH_LOWER, 'close')
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def control_arch_upper_open_sync(self,duration):
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"""控制下料斗振动"""
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self.control(self.BREAK_ARCH_UPPER, 'open')
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# 异步5秒后关闭
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time.sleep(duration)
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self.control(self.BREAK_ARCH_UPPER, 'close')
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def _close_break_arch_lower(self):
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time.sleep(3)
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self.control(self.BREAK_ARCH_LOWER, 'close')
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def control_arch_upper_open_async(self,delay_seconds: float = 15):
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"""异步控制上料斗振动
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Args:
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delay_seconds: 延迟关闭时间（秒），默认15秒
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"""
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# 关闭下料斗出砼门
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self.control(self.BREAK_ARCH_UPPER, 'open')
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# 异步5秒后关闭
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threading.Thread(target=lambda d: self._close_break_arch_upper(delay_seconds),args=(delay_seconds,), daemon=True, name="_close_break_arch_upper").start()
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def _close_break_arch_upper(self, delay_seconds: float = 15):
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time.sleep(delay_seconds)
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print(f"上料斗振动关闭完成，延迟{delay_seconds}秒")
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self.control(self.BREAK_ARCH_UPPER, 'close')
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def close_all(self):
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"""关闭所有继电器"""
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self.control(self.UPPER_TO_JBL, 'close')
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self.control(self.UPPER_TO_ZD, 'close')
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self.control(self.BREAK_ARCH_UPPER, 'close')
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self.control(self.BREAK_ARCH_LOWER, 'close')
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self.control(self.RING, 'close')
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self.control(self.DOOR_LOWER_OPEN, 'close')
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self.control(self.DOOR_LOWER_CLOSE, 'close')
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self.control(self.DOOR_UPPER_OPEN, 'close')
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self.control(self.DOOR_UPPER_CLOSE, 'close')
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