278 lines
12 KiB
Python
278 lines
12 KiB
Python
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from config.settings import app_set_config
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from hardware.relay import RelayController
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import time
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import threading
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from datetime import datetime
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class VisualCallback:
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# 类变量，用于存储实例引用，实现单例检测
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_instance = None
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_lock = threading.Lock()
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def __new__(cls):
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"""检测实例是否存在，实现单例模式"""
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with cls._lock:
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if cls._instance is None:
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cls._instance = super().__new__(cls)
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return cls._instance
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def __init__(self):
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"""初始化视觉回调处理器"""
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# 避免重复初始化
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if hasattr(self, '_initialized') and self._initialized:
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return
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self.angle_mode = "normal"
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self.relay_controller = RelayController()
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self.init_weight = 100
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self.mould_finish_weight = 0
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self.mould_need_weight = 100
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self.finish_count = 0
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self.overflow = False
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# 线程安全的参数传递
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self._current_angle = None
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self._overflow_detected = None
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self._new_data_available = threading.Event()
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self._is_processing = threading.Lock()
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self._stop_event = threading.Event()
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# 创建并启动单个持续运行的线程
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self.callback_thread = threading.Thread(
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target=self._run_thread_loop,
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daemon=True
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)
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self.callback_thread.start()
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# 初始化控制间隔和堆料状态跟踪属性
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self._last_overflow_state = False
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self._last_control_time = 0
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self._initialized = True
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def angle_visual_callback(self, current_angle, overflow_detected):
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"""
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视觉控制主逻辑，供外部推送数据
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使用单个持续运行的线程，通过参数设置传递数据
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如果线程正在处理数据，则丢弃此次推送
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"""
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 回调:{current_angle}")
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# 尝试获取处理锁，若失败则说明正在处理，丢弃数据
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if not self._is_processing.acquire(blocking=False):
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print("回调线程仍在执行，丢弃此次推送数据")
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return
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try:
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# 更新参数
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self._current_angle = current_angle
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if overflow_detected is not None:
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self._overflow_detected = overflow_detected
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# 通知线程有新数据可用
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self._new_data_available.set()
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finally:
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# 释放处理锁
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self._is_processing.release()
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def _run_thread_loop(self):
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"""
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线程主循环，持续运行
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等待新数据，然后调用处理方法
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"""
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while not self._stop_event.is_set():
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# 等待新数据可用
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self._new_data_available.wait()
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# 重置事件
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self._new_data_available.clear()
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# 获取当前参数（使用临时变量避免被其他线程修改）
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current_angle = self._current_angle
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overflow_detected = self._overflow_detected
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# 处理数据
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self._process_angle_callback(current_angle, overflow_detected)
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time.sleep(0.5)
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def __del__(self):
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self.relay_controller.close_all()
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def _process_angle_callback(self, current_angle, overflow_detected):
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"""
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修复版控制逻辑 - 增加控制间隔和状态稳定性
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堆料情况优先处理，非堆料情况保持适当控制间隔
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堆料状态变化时立即处理，不受间隔限制
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"""
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try:
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# 先检查堆料状态
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is_overflow = overflow_detected in ["大堆料", "小堆料"]
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self.overflow = is_overflow
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print(f"{self.angle_mode}")
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# 添加控制间隔检查
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current_time = time.time()
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# 检查堆料状态是否发生变化
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state_changed = self._last_overflow_state != is_overflow
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if hasattr(self, '_last_control_time'):
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time_since_last = current_time - self._last_control_time
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# 防止抖动逻辑：
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# 1. 非堆料且状态未变化：2秒控制间隔
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# 2. 其他情况（堆料或状态变化）：0.5秒最小间隔，避免频繁操作
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if not is_overflow and not state_changed:
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# 正常情况：2秒控制间隔
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if time_since_last < 2:
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return
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else:
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# 堆料或状态变化情况：0.5秒最小间隔，防止抖动
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MIN_INTERVAL = 0.5
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if time_since_last < MIN_INTERVAL:
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return
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# 更新最后控制时间和堆料状态
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self._last_control_time = current_time
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self._last_overflow_state = is_overflow
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if current_angle is None:
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print("无法获取当前角度，跳过本次调整")
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return
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print(f"{datetime.now().strftime('%H:%M:%S.%f')[:-3]} 当前角度: {current_angle:.2f}°")
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# 定义控制参数
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TARGET_ANGLE = 30.0
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UPPER_DEAD_ZONE = 35.0 # 上死区
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LOWER_DEAD_ZONE = 25.0 # 下死区
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MIN_ANGLE = 5.0 # 最小安全角度
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# 状态机逻辑
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if self.angle_mode == "normal":
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if self.overflow and current_angle > UPPER_DEAD_ZONE:
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# 只有角度较高且有堆料时才切换到reducing
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self.angle_mode = "reducing"
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print("检测到堆料且角度偏高，切换到减小模式")
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else:
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# 正常模式：维持适当开度
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if current_angle < MIN_ANGLE:
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# 角度过小，适当开门
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self._pulse_control("open", 0.3)
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elif current_angle > 60.0: # 安全上限
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self._pulse_control("close", 0.5)
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else:
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# 在正常范围内，根据重量比例控制
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if hasattr(self, 'mould_need_weight') and hasattr(self, 'mould_finish_weight'):
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weight_ratio = self.mould_finish_weight / self.mould_need_weight if self.mould_need_weight > 0 else 0
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if weight_ratio < 0.8:
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# 需要大量下料，保持开门
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if current_angle < 40.0:
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self._pulse_control("open", 0.2)
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else:
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# 接近完成，半开控制
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if current_angle > 15.0:
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self._pulse_control("close", 0.1)
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else:
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# 默认保持中等开度
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if current_angle < 20.0:
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self._pulse_control("open", 0.2)
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elif current_angle > 40.0:
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self._pulse_control("close", 0.2)
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elif self.angle_mode == "reducing":
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if not self.overflow:
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# 堆料消失，但需要角度达到安全范围才切换
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if current_angle <= TARGET_ANGLE + 5.0: # 留有余量
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self.angle_mode = "normal"
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print("堆料消失且角度合适，返回正常模式")
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else:
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# 堆料消失但角度仍高，缓慢恢复
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self._pulse_control("close", 0.1)
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else:
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# 仍有堆料，继续减小角度
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if current_angle > TARGET_ANGLE:
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# 角度仍高，继续关门
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pulse_time = min(0.5, (current_angle - TARGET_ANGLE) * 0.02)
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self._pulse_control("close", pulse_time)
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else:
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# 角度已达标，切换到维持模式
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self.angle_mode = "maintaining"
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print(f"角度已降至{current_angle:.1f}°，进入维持模式")
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elif self.angle_mode == "maintaining":
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if not self.overflow:
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self.angle_mode = "normal"
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print("堆料消除，返回正常模式")
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else:
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# 维持模式精确控制
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error = current_angle - TARGET_ANGLE
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dead_zone = 3.0
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if abs(error) < dead_zone:
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# 在死区内，停止动作
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self._stop_door()
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print(f"角度{current_angle:.1f}°在目标附近，保持静止")
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elif error > 0:
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# 角度偏高，轻微关门
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pulse_time = min(0.3, error * 0.01)
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self._pulse_control("close", pulse_time)
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print(f"角度偏高{error:.1f}°，关门{pulse_time:.2f}秒")
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else:
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# 角度偏低，轻微开门
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pulse_time = min(0.3, abs(error) * 0.01)
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self._pulse_control("open", pulse_time)
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print(f"角度偏低{abs(error):.1f}°，开门{pulse_time:.2f}秒")
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except Exception as e:
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print(f"处理视觉回调时发生异常: {e}")
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def _pulse_control(self, action, duration):
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"""统一的脉冲控制方法"""
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if duration <= 0:
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return
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if action == "open":
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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time.sleep(duration)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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print(f"开门脉冲: {duration:.2f}秒")
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else: # close
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'open')
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time.sleep(duration)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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print(f"关门脉冲: {duration:.2f}秒")
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def _stop_door(self):
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"""停止门运动"""
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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@classmethod
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def instance_exists(cls):
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"""检测实例是否存在"""
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return cls._instance is not None
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def shutdown(self):
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"""关闭线程，清理资源"""
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# 设置停止事件
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self._stop_event.set()
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# 唤醒线程以便它能检测到停止事件
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self._new_data_available.set()
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# 等待线程结束
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if self.callback_thread.is_alive():
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self.callback_thread.join(timeout=1.0)
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# 创建默认实例
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visual_callback_instance = VisualCallback()
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# 兼容层，保持原来的函数调用方式可用
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def angle_visual_callback(current_angle, overflow_detected):
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"""
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兼容旧版本的函数调用方式
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将调用转发到默认实例的angle_visual_callback方法
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"""
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visual_callback_instance.angle_visual_callback(current_angle, overflow_detected)
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