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程序正常退出（界面关闭后（投料启动前后），实现所有线程有序退出）

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yanganjie
2025-08-19 20:03:20 +08:00
parent c3e76a79b0
commit 0f94c88fc5
3 changed files with 1577 additions and 810 deletions
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152
EMV/EMV.py
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@ -15,7 +15,7 @@ class RelayController:
update_detect_image = Signal(np.ndarray)
log_signal = Signal(int, str)
def __init__(self, host='192.168.0.18', port=50000):
def __init__(self, host="192.168.0.18", port=50000):
# ===================== 全局线程延时参数 =====================
self.sensor1_loop_delay = 0.2 # SENSOR1 线程轮询间隔（秒）
self.sensor1_error_delay = 1.0 # SENSOR1 出错时延时（秒）
@ -25,7 +25,9 @@ class RelayController:
self.sensor2_error_delay = 0.5 # SENSOR2 出错时延时（秒）
self.sensor2_post_action_delay = 0.2 # SENSOR2 每次循环后延时（秒）
# ===================== 全局动作延时参数 =====================
self.delay_conveyor = 0.5 # 传送带开/关动作延时（一半时间，我在控制程序和线程都加了一样的延时）
self.delay_conveyor = (
0.5 # 传送带开/关动作延时（一半时间，我在控制程序和线程都加了一样的延时）
)
self.delay_pusher = 0.05 # 推板开/关动作延时
self.delay_clamp = 0.5 # 夹爪动作延时
self.delay_after_pusher = 3.0 # 推板推出后到重启传动带时间
@ -39,25 +41,40 @@ class RelayController:
self.host = host
self.port = port
self.CONVEYOR1 = 'conveyor1'
self.PUSHER = 'pusher'
self.CONVEYOR2 = 'conveyor2'
self.CLAMP = 'clamp'
self.PUSHER1 = 'pusher1'
self.SENSOR1 = 'sensor1'
self.SENSOR2 = 'sensor2'
self.CONVEYOR1 = "conveyor1"
self.PUSHER = "pusher"
self.CONVEYOR2 = "conveyor2"
self.CLAMP = "clamp"
self.PUSHER1 = "pusher1"
self.SENSOR1 = "sensor1"
self.SENSOR2 = "sensor2"
self.valve_commands = {
self.CONVEYOR1: {'open': '00000000000601050000FF00', 'close': '000000000006010500000000'},
self.PUSHER: {'open': '00000000000601050001FF00', 'close': '000000000006010500010000'},
self.CONVEYOR2: {'open': '000100000006020620000012', 'close': '000100000006020620000001'},
self.CLAMP: {'open': '00000000000601050003FF00', 'close': '000000000006010500030000'},
self.PUSHER1: {'open': '00000000000601050004FF00', 'close': '000000000006010500040000'}
self.CONVEYOR1: {
"open": "00000000000601050000FF00",
"close": "000000000006010500000000",
},
self.PUSHER: {
"open": "00000000000601050001FF00",
"close": "000000000006010500010000",
},
self.CONVEYOR2: {
"open": "000100000006020620000012",
"close": "000100000006020620000001",
},
self.CLAMP: {
"open": "00000000000601050003FF00",
"close": "000000000006010500030000",
},
self.PUSHER1: {
"open": "00000000000601050004FF00",
"close": "000000000006010500040000",
},
}
self.read_status_command = {
'devices': '000000000006010100000008',
'sensors': '000000000006010200000008'
"devices": "000000000006010100000008",
"sensors": "000000000006010200000008",
}
self.device_bit_map = {
@ -82,8 +99,8 @@ class RelayController:
}
self.sensor_name_map = {
self.SENSOR1: '位置传感器1',
self.SENSOR2: '位置传感器2',
self.SENSOR1: "位置传感器1",
self.SENSOR2: "位置传感器2",
}
# ===================== 状态控制变量 =====================
@ -91,8 +108,8 @@ class RelayController:
self._sensor1_thread = None
self._sensor2_thread = None
self.required_codes = {'0101', '0103'} # 有效状态码（传感器1）
self.required_codes_1 = {'0102', '0103'} # 有效状态码（传感器2）
self.required_codes = {"0101", "0103"} # 有效状态码（传感器1）
self.required_codes_1 = {"0102", "0103"} # 有效状态码（传感器2）
self.sensor1_triggered = False
self.sensor1_last_time = 0
@ -101,25 +118,33 @@ class RelayController:
self.motor_stopped_by_sensor2 = False
# ===================== 基础通信方法 =====================
def send_command(self, command_hex, retry_count=2, source='unknown'):
def send_command(self, command_hex, retry_count=2, source="unknown"):
if not self._running:
return
byte_data = binascii.unhexlify(command_hex)
for attempt in range(retry_count):
if not self._running:
return
try:
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
sock.settimeout(10)
sock.connect((self.host, self.port))
sock.send(byte_data)
response = sock.recv(1024)
hex_response = binascii.hexlify(response).decode('utf-8')
#if source == 'sensor':
#print(f"[传感器响应] {hex_response}")
#elif source == 'device':
#print(f"[设备控制响应] {hex_response}")
#else:
#print(f"[通信响应] {hex_response}")
hex_response = binascii.hexlify(response).decode("utf-8")
# if source == 'sensor':
# print(f"[传感器响应] {hex_response}")
# elif source == 'device':
# print(f"[设备控制响应] {hex_response}")
# else:
# print(f"[通信响应] {hex_response}")
return response
except Exception as e:
print(f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})")
print(
f"通信错误 ({source}): {e}, 尝试重连... ({attempt + 1}/{retry_count})"
)
time.sleep(5)
self.trigger_alarm()
return None
@ -128,30 +153,38 @@ class RelayController:
print("警告：连续多次通信失败，请检查设备连接！")
# ===================== 状态读取方法 =====================
def get_all_device_status(self, command_type='devices'):
def get_all_device_status(self, command_type="devices"):
command = self.read_status_command.get(command_type)
if not command:
print(f"未知的读取类型: {command_type}")
return {}
source = 'sensor' if command_type == 'sensors' else 'device'
source = "sensor" if command_type == "sensors" else "device"
response = self.send_command(command, source=source)
status_dict = {}
if response and len(response) >= 10:
status_byte = response[9]
status_bin = f"{status_byte:08b}"[::-1]
bit_map = self.device_bit_map if command_type == 'devices' else self.sensor_bit_map
name_map = self.device_name_map if command_type == 'devices' else self.sensor_name_map
bit_map = (
self.device_bit_map
if command_type == "devices"
else self.sensor_bit_map
)
name_map = (
self.device_name_map
if command_type == "devices"
else self.sensor_name_map
)
for key, bit_index in bit_map.items():
status_dict[key] = status_bin[bit_index] == '1'
status_dict[key] = status_bin[bit_index] == "1"
else:
print(f"[{command_type}] 读取状态失败或响应无效")
return status_dict
def get_all_sensor_responses(self, command_type='sensors'):
def get_all_sensor_responses(self, command_type="sensors"):
"""
获取所有传感器的原始 Modbus 响应字符串
示例：{'sensor1': '00000000000401020101', 'sensor2': '00000000000401020100'}
@ -161,12 +194,12 @@ class RelayController:
print(f"未知的读取类型: {command_type}")
return {}
source = 'sensor' if command_type == 'sensors' else 'device'
source = "sensor" if command_type == "sensors" else "device"
response = self.send_command(command, source=source)
responses = {}
if response and len(response) >= 10:
hex_response = binascii.hexlify(response).decode('utf-8')
hex_response = binascii.hexlify(response).decode("utf-8")
print(f"[原始响应][{command_type}] {hex_response}")
# 假设传感器数据从第 9 字节开始，长度为 2 字节
@ -192,7 +225,7 @@ class RelayController:
def is_valid_sensor_status(self, sensor_name):
stable_count = 0
for _ in range(int(self.sensor_stable_duration / self.sensor1_loop_delay)):
responses = self.get_all_sensor_responses('sensors')
responses = self.get_all_sensor_responses("sensors")
response = responses.get(sensor_name)
if not response:
@ -211,7 +244,7 @@ class RelayController:
def is_valid_sensor_status_1(self, sensor_name):
stable_count = 0
for _ in range(int(self.sensor_stable_duration / self.sensor2_loop_delay)):
responses = self.get_all_sensor_responses('sensors')
responses = self.get_all_sensor_responses("sensors")
response = responses.get(sensor_name)
if not response:
@ -229,49 +262,57 @@ class RelayController:
return False
# ===================== 动作控制方法 =====================
def open(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False):
def open(
self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False
):
status = self.get_all_device_status()
if conveyor1 and not status.get(self.CONVEYOR1, False):
self.send_command(self.valve_commands[self.CONVEYOR1]['open'])
self.send_command(self.valve_commands[self.CONVEYOR1]["open"])
time.sleep(self.delay_conveyor)
if pusher and not status.get(self.PUSHER, False):
self.send_command(self.valve_commands[self.PUSHER]['open'])
self.send_command(self.valve_commands[self.PUSHER]["open"])
time.sleep(self.delay_pusher)
if conveyor2 and not status.get(self.CONVEYOR2, False):
self.send_command(self.valve_commands[self.CONVEYOR2]['open'])
self.send_command(self.valve_commands[self.CONVEYOR2]["open"])
time.sleep(self.delay_conveyor)
if clamp and not status.get(self.CLAMP, False):
self.send_command(self.valve_commands[self.CLAMP]['open'])
self.send_command(self.valve_commands[self.CLAMP]["open"])
time.sleep(self.delay_clamp)
if pusher1 and not status.get(self.PUSHER1, False):
self.send_command(self.valve_commands[self.PUSHER1]['open'])
self.send_command(self.valve_commands[self.PUSHER1]["open"])
time.sleep(self.delay_pusher)
def close(self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False):
def close(
self, conveyor1=False, pusher=False, conveyor2=False, clamp=False, pusher1=False
):
if conveyor1:
self.send_command(self.valve_commands[self.CONVEYOR1]['close'])
self.send_command(self.valve_commands[self.CONVEYOR1]["close"])
time.sleep(self.delay_conveyor)
if pusher:
self.send_command(self.valve_commands[self.PUSHER]['close'])
self.send_command(self.valve_commands[self.PUSHER]["close"])
time.sleep(self.delay_pusher)
if conveyor2:
self.send_command(self.valve_commands[self.CONVEYOR2]['close'])
self.send_command(self.valve_commands[self.CONVEYOR2]["close"])
time.sleep(self.delay_conveyor)
if clamp:
self.send_command(self.valve_commands[self.CLAMP]['close'])
self.send_command(self.valve_commands[self.CLAMP]["close"])
time.sleep(self.delay_clamp)
if pusher1:
self.send_command(self.valve_commands[self.PUSHER1]['close'])
self.send_command(self.valve_commands[self.PUSHER1]["close"])
time.sleep(self.delay_pusher)
# ===================== 传感器处理线程 =====================
def handle_sensor1(self):
print("传感器线程1启动！！！")
while self._running:
try:
if self.is_valid_sensor_status(self.SENSOR1):
current_time = time.time()
if not self.sensor1_triggered and (
current_time - self.sensor1_last_time) > self.sensor1_debounce_time:
if (
not self.sensor1_triggered
and (current_time - self.sensor1_last_time)
> self.sensor1_debounce_time
):
self.sensor1_triggered = True
self.sensor1_last_time = current_time
# 1.停止包装机皮带电机：关闭 conveyor1
@ -293,7 +334,7 @@ class RelayController:
time.sleep(1)
# 5. 状态检查（可选）
status = self.get_all_device_status()
if status.get('conveyor1') and not status.get('pusher'):
if status.get("conveyor1") and not status.get("pusher"):
print("流程完成1：皮带运行中，推板已收回")
else:
print("状态异常，请检查设备")
@ -306,6 +347,7 @@ class RelayController:
time.sleep(self.sensor1_error_delay)
def handle_sensor2(self):
print("传感器线程12启动！！！")
while self._running:
try:
if self.is_valid_sensor_status_1(self.SENSOR2):
@ -357,7 +399,7 @@ class RelayController:
self._sensor1_thread.start()
if __name__ == '__main__':
if __name__ == "__main__":
controller = RelayController()
controller.start()
try: