def clear_plc(self):
try:
# 运动状态全部清零
self.__write(HOCK_RESET_PLC, 0) # 重置清零
self.__write(HOCK_STOP_PLC, 0) # 紧急停止清零
self.__write(HOCK_MOVE_STATUS_PLC, 0) # 运动状态清零
self.__write(EAST_PLC, 0)
self.__write(WEST_PLC, 0)
self.__write(SOUTH_PLC, 0)
self.__write(NORTH_PLC, 0)
self.__write(UP_PLC, 0)
self.__write(DOWN_PLC, 0)
self.__write(UP_CARGOHOOK_PLC, 0)
self.__write(DOWN_CARGOHOOK_PLC, 0)
self.__write(GO_AND_BACK, 0)
self.__write(SOUTH_NORTH_SERVER_ERROR, 0)
self.__write(EAST_SERVER_ERROR, 0)
self.__write(WEST_SERVER_ERROR, 0)
self.__write(WEST_LIMIT_ERROR, 0)
self.__write(EAST_LIMIT_ERROR, 0)
self.__write(NORTH_LIMIT_ERROR, 0)
self.__write(SOUTH_LIMIT_ERROR, 0)
self.power = True
except Exception as e:
logger("PLC 无法写入数值，请检查端口", level='error')
def speed(self):
try:
move_speed = self.__read(MOVE_SPEED)
except Exception as e:
logger(e.__str__(), level="error")
else:
self._speed = move_speed
return self._speed
def re_work(self):
self.intelligentthread.work = True
try:
self.intelligentthread.target_bag_position.clear()
self.intelligentthread.move_to_bag_x = False
self.intelligentthread.move_to_bag_y = False
self.intelligentthread.scan_bag = False
except Exception as e:
logger(e.__str__(), "error")
def clear_plc(self):
'''
行车清零
:return:
'''
try:
self.plchandle.clear_plc()
except Exception as e:
logger(e.__str__(), "error")
def resetplc(self):
'''
行车复位
:return:
'''
try:
self.plchandle.reset()
except Exception as e:
logger(e.__str__(), "error")
def read_status(self):
'''
读取钩子移动状态： 1：运动 0:静止
:return: int
'''
try:
result = self.__read(HOCK_MOVE_STATUS_PLC)
except Exception as exc:
logger("PLC 无法读取数值，请检查端口", level='error')
result = 0
return result
def power(self, trueorfalse):
'''
1:开启
0：关闭
:return:
'''
try:
self._power = trueorfalse
self.__write(POWER_PLC, 1 if trueorfalse else 0)
except Exception as e:
logger(e.__str__(), level="error")
def power(self):
'''
1:开启
0：关闭
:return:
'''
try:
powervalue = self.__read(POWER_PLC)
except Exception as e:
logger(e.__str__(), level="error")
else:
self._power = (powervalue == 1)
return self._power
def is_open(self):
'''
用来检测程序是否连接了PLC
:return:
'''
try:
# self.info()
self._plc_status = True
except Exception as e:
logger("PLC 连接失败，请检查端口", level='error')
self._plc_status = False
return self._plc_status
def __write(self, address, value: int):
'''
向PLC中写入数据
:param address:
:param value:
:return:
'''
try:
self.master.execute(1,
cst.WRITE_SINGLE_REGISTER,
address,
output_value=value)
except:
logger("PLC 无法写入，请检查端口", level='error')
def move(self,
east=0,
west=0,
south=0,
nourth=0,
up=0,
down=0,
up_cargohook=0,
down_cargohook=0):
try:
self.plchandle.move(east, west, south, nourth, up, down,
up_cargohook, down_cargohook)
except Exception as e:
logger(e.__str__(), "error")
def __read(self, address):
'''
向PLC中读取数据
:param address:
:return:
'''
try:
info = self.master.execute(1,
cst.READ_HOLDING_REGISTERS,
starting_address=address,
quantity_of_x=1)
except Exception as e:
logger(e.__str__(), "error")
raise e
else:
return info[0]
def init_plc(self):
'''
初始化PLC
:return:
'''
try:
self.master = modbus_rtu.RtuMaster(
serial.Serial(port=self.port,
baudrate=19200,
bytesize=8,
parity='E',
stopbits=1,
xonxoff=0))
self.master.set_timeout(self.timeout) # PLC 延迟
self.master.set_verbose(True)
except Exception as exc:
logger("PLC 连接失败，请检查端口", level='error')
self._plc_status = False
def quickly_stop_work(self):
'''
行车紧急停止
:return:
'''
self.intelligentthread.work = False
try:
self.plchandle.ugent_stop()
if len(self.intelligentthread.target_bag_position) > 0:
self.intelligentthread.target_bag_position.clear()
self.intelligentthread.scan_bag = False
self.intelligentthread.move_to_bag_x = False
self.intelligentthread.move_to_bag_y = False
if self.intelligentthread.save_video:
self.intelligentthread.update_savevideo.emit(
self.intelligentthread.save_video)
except Exception as e:
logger(e.__str__(), "error")
def reset(self):
'''复位 1:复位 0：取消复位 '''
try:
# 写入复位
self.__write(HOCK_RESET_PLC, 1)
# 紧急停止清零
self.__write(HOCK_STOP_PLC, 0)
# 运动状态清零
self.__write(HOCK_MOVE_STATUS_PLC, 0)
self.__write(EAST_PLC, 0)
self.__write(WEST_PLC, 0)
self.__write(SOUTH_PLC, 0)
self.__write(NORTH_PLC, 0)
self.__write(UP_PLC, 0)
self.__write(DOWN_PLC, 0)
self.__write(UP_CARGOHOOK_PLC, 0)
self.__write(DOWN_CARGOHOOK_PLC, 0)
self.power = True
except Exception as e:
logger("PLC 无法写入数值，请检查端口", level='error')
def check_error(self):
info = {}
try:
south_north = self.__read(SOUTH_NORTH_SERVER_ERROR)
except Exception as e:
south_north = 1
logger("PLC 无法读取{}数值，请检查端口".format('南北伺服寄存器地址'), level='error')
info['south_north'] = south_north
try:
east_server = self.__read(EAST_SERVER_ERROR)
except:
east_server = 1
logger("PLC 无法读取{}数值，请检查端口".format('东伺服寄存器地址'), level='error')
info['east_server'] = east_server
try:
west_server = self.__read(WEST_SERVER_ERROR)
except:
west_server = 1 # self.__read(WEST_SERVER_ERROR)
logger("PLC 无法读取{}数值，请检查端口".format('西伺服寄存器地址'), level='error')
info['west_server'] = west_server
try:
west = self.__read(WEST_LIMIT_ERROR)
except:
west = 1
logger("PLC 无法读取{}数值，请检查端口".format('西限位寄存器地址'), level='error')
info['west'] = west
try:
east = self.__read(EAST_LIMIT_ERROR)
except:
east = 1
logger("PLC 无法读取{}数值，请检查端口".format('东限位寄存器地址'), level='error')
info['east'] = east
try:
north = self.__read(NORTH_LIMIT_ERROR)
except:
north = 1
logger("PLC 无法读取{}数值，请检查端口".format('北限位寄存器地址'), level='error')
info['north'] = north
try:
south = self.__read(SOUTH_LIMIT_ERROR)
except:
south = 1
logger("PLC 无法读取{}数值，请检查端口".format('南限位寄存器地址'), level='error')
info['south'] = south
try:
sourth_north_server_trip_warn = self.__read(
SOUTH_NORTH_SERVER_TRIP_WARN)
except:
sourth_north_server_trip_warn = 1
info['sourth_north_server_trip_warn'] = sourth_north_server_trip_warn
try:
east_west_server1_trip_warn = self.__read(
EAST_WEST_SERVER1_TRIP_WARN)
except:
east_west_server1_trip_warn = 1
info['east_west_server1_trip_warn'] = east_west_server1_trip_warn
try:
east_west_server2_trip_warn = self.__read(
EAST_WEST_SERVER2_TRIP_WARN)
except:
east_west_server2_trip_warn = 1
info['east_west_server2_trip_warn'] = east_west_server2_trip_warn
return info
def switch_power(self):
try:
self.plchandle.power = True
except Exception as e:
logger(e.__str__(), "error")
def hock_stop(self):
try:
self.__write(HOCK_MOVE_STATUS_PLC, int(0))
except Exception as e:
logger("PLC 无法写入数值，请检查端口", level='error')
def move(self,
east=0,
west=0,
south=0,
nourth=0,
up=0,
down=0,
up_cargohook=0,
down_cargohook=0):
try:
self.__write(HOCK_MOVE_STATUS_PLC, int(1)) # 钩子运动状态上升
if east != 0:
east_server = self.__read(EAST_SERVER_ERROR)
east_limit = self.__read(EAST_LIMIT_ERROR)
if (east_server is None
or east_server != 1) and (east_limit is None
or east_limit != -1):
self.__write(EAST_PLC, int(east))
logger("向东{}cm".format(int(east)), level='info')
if west != 0:
west_server = self.__read(WEST_SERVER_ERROR)
west_limit = self.__read(WEST_LIMIT_ERROR)
if (west_server is None
or west_server != 1) and (west_limit is None
or west_limit != -1):
self.__write(WEST_PLC, int(west))
logger("向西{}cm".format(int(west)), level='info')
if south != 0:
northsourth_server = self.__read(SOUTH_NORTH_SERVER_ERROR)
sourth_limit = self.__read(SOUTH_LIMIT_ERROR)
if (northsourth_server is None or
northsourth_server != 1) and (sourth_limit is None
or sourth_limit != -1):
self.__write(SOUTH_PLC, int(south))
logger("向南{}cm".format(int(south)), level='info')
if nourth != 0:
northsourth_server = self.__read(SOUTH_NORTH_SERVER_ERROR)
north_limit = self.__read(NORTH_LIMIT_ERROR)
if (northsourth_server is None
or northsourth_server != 1) and (north_limit is None
or north_limit != -1):
self.__write(NORTH_PLC, int(nourth))
logger("向北{}cm".format(int(nourth)), level='info')
# 定位钩上升
if up != 0:
self.__write(UP_PLC, int(up))
logger("向上{}cm".format(int(up)), level='info')
# 定位钩下降
if down != 0:
self.__write(DOWN_PLC, int(down))
logger("向下{}cm".format(int(down)), level='info')
# 货钩上升
if up_cargohook != 0:
self.__write(UP_CARGOHOOK_PLC, int(up_cargohook))
logger("货钩向上{}cm".format(int(up_cargohook)), level='info')
# 货钩下降
if down_cargohook != 0:
self.__write(DOWN_CARGOHOOK_PLC, int(down_cargohook))
logger("货钩向下{}cm".format(int(down_cargohook)), level='info')
except Exception as exc:
logger("PLC 无法写入数值，请检查端口", level='error')
def go_and_back(self):
try:
self.__write(GO_AND_BACK, int(1)) # 钩子运动状态上升
except Exception as exc:
logger("PLC 无法写入数值，请检查端口", level='error')
def move_status(self, value):
try:
self.__write(HOCK_MOVE_STATUS_PLC, int(value)) # 运动状态写入
except Exception as exc:
logger("PLC 无法写入数值，请检查端口", level='error')
def speed(self, speed_value):
try:
self._speed = speed_value
self.__write(MOVE_SPEED, speed_value)
except Exception as e:
logger(e.__str__(), level="error")
def turnon_lamp(self):
try:
self.plchandle.turnon_lamp()
except Exception as e:
logger(e.__str__(), "error")