241 lines
11 KiB
Python
241 lines
11 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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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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内部方法，实际处理视觉回调逻辑
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在异步线程中执行
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"""
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try:
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# print('current_angle:', current_angle, 'overflow_detected:', overflow_detected)
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# return
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# 检测溢出状态
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print(f"{self.angle_mode}")
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self.overflow = overflow_detected in ["大堆料", "小堆料"]
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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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if True:
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# 状态机控制逻辑
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if self.angle_mode == "normal":
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# 正常模式大于app_set_config.angle_threshold=60度
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if self.overflow:
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self.angle_mode = "reducing"
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else:
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# 保持正常开门
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# print(f'当前重量:{self.mould_finish_weight:.2f}kg, 目标重量:{self.mould_need_weight:.2f}kg')
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if self.mould_need_weight > 0:
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if self.mould_finish_weight / self.mould_need_weight >= 0.8:
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print(f"完成重量占比{self.mould_finish_weight/self.mould_need_weight:.2f}，半开出砼门")
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# 半开出砼门
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if current_angle > app_set_config.target_angle:
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# 角度已降至目标范围，关闭出砼门
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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(0.3)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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else:
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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(0.32)
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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else:
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# 全开砼门
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if current_angle > app_set_config.angle_threshold:
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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, 'close')
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else:
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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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else:
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# 全开砼门
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if current_angle > app_set_config.angle_threshold:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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else:
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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elif self.angle_mode == "reducing":
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# 角度减小模式
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if self.overflow:
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if current_angle <= app_set_config.target_angle:
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# 角度已达到目标范围，仍有堆料，进入维持模式
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print(f"角度已降至{current_angle:.2f}°，仍有堆料，进入维持模式")
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if current_angle <= app_set_config.min_angle:
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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(0.1)
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self.angle_mode = "maintaining"
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else:
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print(f"角度大于30，继续关闭")
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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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else:
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# 无堆料，恢复正常模式
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print(f"角度已降至{current_angle:.2f}°，无堆料，恢复正常模式")
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self.angle_mode = "normal"
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elif self.angle_mode == "maintaining":
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# 维持模式 - 使用脉冲控制
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if not self.overflow:
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# 堆料已消除，恢复正常模式
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print("堆料已消除，恢复正常模式")
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self.angle_mode = "normal"
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else:
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# 继续维持角度控制
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print("进入维持模式")
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# 关门时间
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if current_angle > app_set_config.target_angle:
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# 角度已降至目标范围，关闭出砼门
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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(0.3)
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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else:
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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(0.32)
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# self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
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elif self.angle_mode == "recovery":
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# 恢复模式 - 逐步打开门
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if self.overflow:
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# 又出现堆料，回到角度减小模式
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print("恢复过程中又检测到堆料，回到角度减小模式")
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self.angle_mode = "maintaining"
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else:
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# 堆料已消除，恢复正常模式
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print("堆料已消除，恢复正常模式")
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'open')
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self.relay_controller.control(self.relay_controller.DOOR_LOWER_CLOSE, 'close')
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self.angle_mode = "normal"
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# else:
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# 浇筑满，关闭下料门
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# self.relay_controller.control_lower_close()
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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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@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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