153 lines
5.8 KiB
Python
153 lines
5.8 KiB
Python
from PySide6.QtCore import QTimer, Signal, QObject, Slot
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import threading
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from hardware.transmitter import TransmitterController
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from hardware.relay import RelayController
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from view.widgets.hopper_widget import HopperWidget
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from view.widgets.conveyor_system_widget import ConveyorSystemWidget
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# 信号类：后台线程向主线程传递数据
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class HopperSignals(QObject):
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upper_weight_updated = Signal(int) # 上料斗重量更新信号
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class HopperController:
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def __init__(self, hopper_view:HopperWidget, conveyor_view:ConveyorSystemWidget):
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self.hopper_view = hopper_view
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self.conveyor_view = conveyor_view # 控制传送带中的上料斗
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self.signals = HopperSignals() # 信号
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# 下料斗夹爪测试用例数据
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# 注意：目前只控制 下料斗的夹爪角度变化
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self.angle = 10 # 夹爪当前角度
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self.max_angle = 60 # 夹爪最大张开角度
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self.min_angle = 10 # 夹爪最小张开角度
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self.is_add = True # 角度增加/减小 控制
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self.timer_angle = QTimer() # 角度更新定时器
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self.timer_angle.setInterval(1000) # 1秒更新一次角度
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# 重量读取定时器
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self.timer_weight = QTimer() # 重量读取定时器
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self.timer_weight.setInterval(2000) # 每2秒读取一次重量
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# 绑定信号
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self._connect_signals()
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# 开启定时器
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self.timer_angle.start()
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self.timer_weight.start()
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def _connect_signals(self):
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# 更新上料斗重量
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self.signals.upper_weight_updated.connect(self.onUpdateUpperHopperWeight)
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# 上料斗重量定时读取
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self.timer_weight.timeout.connect(self.handleReadUpperHopperWeight)
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# 下料斗夹爪定时更新
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self.timer_angle.timeout.connect(self.handleLowerClampAngleUpdate)
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# 上料斗 "开"按钮点击
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self.hopper_view.upper_open_btn.clicked.connect(self.onUpperClampOpenBottonClicked)
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# 上料斗 "破拱"按钮
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self.hopper_view.upper_arch_breaking_signal.connect(self.onUpperArchBreaking)
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# 下料斗 "开"按钮点击
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self.hopper_view.lower_open_btn.clicked.connect(self.onLowerClampOpenBottonClicked)
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# 下料斗 "破拱"按钮
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self.hopper_view.lower_arch_breaking_signal.connect(self.onLowerArchBreaking)
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def handleLowerClampAngleUpdate(self):
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"""处理下料斗夹爪开合"""
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# 角度增减逻辑
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if self.is_add:
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self.angle += 1
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else:
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self.angle -= 1
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# 边界控制
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if self.angle > self.max_angle:
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self.is_add = False
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self.angle = self.max_angle
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if self.angle <= self.min_angle:
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self.is_add = True
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self.angle = self.min_angle
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# 更新下料斗夹爪角度
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self.onUpdateLowerClampAngle(self.angle)
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@Slot(int)
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def onUpdateUpperHopperWeight(self, weight:int):
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"更新上料斗重量"
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self.hopper_view.setUpperHopperWeight(weight)
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# 注意：此时需要同步更新传送带中的上料斗的重量
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self.conveyor_view.setConveyorHopperWeight(weight)
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@Slot(int)
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def onUpdateLowerHopperWeight(self, weight:int):
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"更新下料斗重量"
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self.hopper_view.setLowerHopperWeight(weight)
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@Slot()
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def handleReadUpperHopperWeight(self):
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# 后台读取上料斗重量
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def upper_weight_task():
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loc_tra = TransmitterController(RelayController())
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# 上料斗重量 (目前只有上料斗安装变送器， 可以读取到重量)
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upper_weight = loc_tra.read_data(1)
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# 发送信号到主线程更新UI
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if upper_weight is not None:
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self.signals.upper_weight_updated.emit(upper_weight)
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threading.Thread(target=upper_weight_task, daemon=True).start()
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@Slot(float)
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def onUpdateLowerClampAngle(self, angle:float):
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"""更新下料斗夹爪角度"""
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self.hopper_view.setLowerHopperOpeningAngle(angle)
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@Slot(float)
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def onUpdateUpperClampAngle(self, angle:float):
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"""更新上料斗夹爪角度"""
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self.hopper_view.setUpperHopperClampAngle(angle)
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@Slot()
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def onUpperClampOpenBottonClicked(self):
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# 上料斗 夹爪 "开"按钮点击
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print("hopper_controller: onUpperClampOpenBottonClicked")
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# 测试上料斗夹爪，6秒打开60度
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self.hopper_view.upper_clamp_widget.testAnimation(target_angle=60, duration=6)
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@Slot(bool)
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def onUpperArchBreaking(self, status:bool):
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"""上料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
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print("hopper_controller: onUpperArchBreaking ", status)
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@Slot(int)
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def onUpperHopperStatusChanged(self, status:int):
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"""上料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
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# 料斗中的状态指示器
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self.hopper_view.setUpperHopperStatus(status)
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@Slot(float)
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def onUpdateUpperHopperVolume(self, volume: float):
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"""更新上料斗显示的方量，如: 2.0"""
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self.hopper_view.setUpperHopperVolume(volume)
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@Slot()
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def onLowerClampOpenBottonClicked(self):
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# 下料斗 夹爪 "开"按钮点击
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print("hopper_controller: onLowerClampOpenBottonClicked")
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@Slot(bool)
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def onLowerArchBreaking(self, status:bool):
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"""下料斗破拱: status 为True表示 开启破拱, 为False表示 关闭破拱"""
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print("hopper_controller: onLowerArchBreaking ", status)
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@Slot(int)
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def onLowerHopperStatusChanged(self, status:int):
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"""下料斗状态改变: status为 0=绿(正常), 1=黄(警告), 2=红(异常) """
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# 料斗中的状态指示器
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self.hopper_view.setLowerHopperStatus(status) |