billetManager/models/overhead_crane.py

import time, threading
from utils.s7data import S7data
from utils.logger import Logger
from models.billet_trace_pusher import Trace_pusher
from models.parking import Parking
from models.data_sender import Sender
from models.billet_stacks import Stack_manager
from utils.statepoint import Statepoint

class Changed_recorder:
    def __init__(self, point: Statepoint):
        self.point = point
        self.point.set_convertor(self.do_update)
        self.old_data = self.point.data
        self.changed_count = 0
        self.changed_time = time.time()
    
    def do_update(self, data):
        if data != self.old_data:
            self.changed_count = data - self.old_data
            self.changed_time = time.time()
        self.old_data = data

    def get_changed(self):
        if time.time() - self.changed_time <= 20:
            return self.changed_count
        
        return 0


class Crane:
    def __init__(self, data_s7: S7data, tracer_5: Trace_pusher, tracer_6: Trace_pusher, parking: Parking, stack_manager: Stack_manager, sender: Sender, logger: Logger):
        self.data = data_s7
        self.tracer_5 = tracer_5
        self.tracer_6 = tracer_6
        self.parking = parking
        self.stack_manager = stack_manager
        self.sender = sender
        self.logger = logger

        self.cranes = {
            "A1": self.data.make_point("天车A1位置"),
            "A2": self.data.make_point("天车A2位置"),
            "A3": self.data.make_point("天车A3位置")
        }

        self.billetsNo = {
            "A1": "",
            "A2": "",
            "A3": ""
        }

        self.billet_layer_addr = {
            "A1": [0, 0, 0],
            "A2": [0, 0, 0],
            "A3": [0, 0, 0]
        }

        self.billets_from = {
            "A1": "",
            "A2": "",
            "A3": ""
        }

        self.billets_from_stack = {
            "A1": "",
            "A2": "",
            "A3": ""
        }

        self.areas = {
            "6#小冷床(北)": [34000, 39700],#确认
            "6#小冷床(南)": [20000, 24300],
            "车位3": [1300, 4500],#确认
            "高线辊道": [60300, 62300],#确认
            "601堆垛": [6000, 17000],#确认
            "5#小冷床(北)": [86000, 95000],
            "5#小冷床(南)": [72140, 76140],
            "501堆垛": [105520, 117725],#确认
            "车位1": [119370, 122395],#确认
            "车位2": [43000, 48000]#确认
        }

        self.car1_checker = Changed_recorder(self.data.make_point("车1车厢夹数"))

        self.threads_poor = [
            threading.Thread(target=self.area_producer, args=("6#小冷床(北)",)),
            threading.Thread(target=self.area_producer, args=("6#小冷床(南)",)),
            threading.Thread(target=self.area_producer, args=("5#小冷床(北)",)),
            threading.Thread(target=self.area_producer, args=("5#小冷床(南)",)),
            threading.Thread(target=self.area_consumer, args=("车位1", self.car1_checker)),
            threading.Thread(target=self.area_consumer, args=("车位2",)),
            threading.Thread(target=self.area_consumer, args=("车位3",)),
            threading.Thread(target=self.area_consumer, args=("高线辊道",)),
            threading.Thread(target=self.area_stack, args=("601堆垛",)),
            threading.Thread(target=self.area_stack, args=("501堆垛",))
        ]

        for i in self.threads_poor:
            i.start()

    def scan_crane(self, areaNo):
        start = self.areas[areaNo][0]
        end = self.areas[areaNo][1]
        while True:
            for key, value in self.cranes.items():
                if start <= value.data <= end:
                    return key
            time.sleep(0.5)

    def crane_leave(self, craneNo, areaNo):
        start = self.areas[areaNo][0]
        end = self.areas[areaNo][1]
        wait_time = 0
        while True:
            if self.cranes[craneNo].data < start or self.cranes[craneNo].data > end:
                return True
            if wait_time >= 16:
                return False
            time.sleep(0.5)
            wait_time += 0.5
            
    def area_producer(self, areaNo):
        while True:
            craneNo = self.scan_crane(areaNo)
            self.logger.debug(f"天车{craneNo}进入区域{areaNo}")

            if self.crane_leave(craneNo, areaNo):
                self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
                continue

            if self.billetsNo[craneNo] == "":
                self.logger.debug(f"天车{craneNo}区域{areaNo}：正在等待或尝试夹起钢坯")
                if self.get_billet(craneNo, areaNo):
                    self.logger.info(f"天车{craneNo}区域{areaNo}：获取到钢坯{self.billetsNo[craneNo]}")
                    #test
                    if '5#' in areaNo:
                        if '北' in areaNo:
                            self.logger.debug(f"5#北侧冷床目前情况:{len(self.tracer_5.bed_left[0])}根|{len(self.tracer_5.bed_left[1])}根|{len(self.tracer_5.bed_left[2])}根")
                        else:
                            self.logger.debug(f"5#南侧冷床目前情况:{len(self.tracer_5.bed_right[2])}根|{len(self.tracer_5.bed_right[1])}根|{len(self.tracer_5.bed_right[0])}根")
                    elif '6#' in areaNo:
                        if '北' in areaNo:
                            self.logger.debug(f"6#北侧冷床目前情况:{len(self.tracer_6.bed_left[0])}根|{len(self.tracer_6.bed_left[1])}根|{len(self.tracer_6.bed_left[2])}根")
                        else:
                            self.logger.debug(f"6#南侧冷床目前情况:{len(self.tracer_6.bed_right[2])}根|{len(self.tracer_6.bed_right[1])}根|{len(self.tracer_6.bed_right[0])}根")
                else:
                    self.logger.debug(f"天车{craneNo}区域{areaNo}：未获取到钢坯直接离开")
            else:
                self.logger.debug(f"天车{craneNo}区域{areaNo}：有未卸下的钢坯")

            while not self.crane_leave(craneNo, areaNo):
                pass

            self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
            time.sleep(1)

    def area_consumer(self, areaNo, checker: Changed_recorder = None):
        while True:
            craneNo = self.scan_crane(areaNo)
            self.logger.debug(f"天车{craneNo}进入区域{areaNo}")

            if self.crane_leave(craneNo, areaNo):
                self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
                continue

            if self.billetsNo[craneNo] == "" and self.billet_layer_addr[craneNo][0] == 0:
                self.logger.debug(f"天车{craneNo}区域{areaNo}：未携带钢坯")
            else:
                self.logger.debug(f"天车{craneNo}区域{areaNo}：正在等待或尝试卸下钢坯")
                if checker == None:
                    self.unload_billet(craneNo, areaNo)

            while not self.crane_leave(craneNo, areaNo):
                pass

            if checker != None:
                count = 4
                while count:
                    time.sleep(5)
                    count -= 1
                    changed = checker.get_changed()
                    if changed > 0:
                        self.unload_billet(craneNo, areaNo)
                    elif changed < 0:
                        self.logger.warning(f"区域{areaNo}产生意料之外的钢坯数量减少{-changed}根")
                    else:
                        continue
            
            self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
            time.sleep(1)

    def area_stack(self, areaNo):
        while True:
            craneNo = self.scan_crane(areaNo)
            self.logger.debug(f"天车{craneNo}进入区域{areaNo}")

            if self.crane_leave(craneNo, areaNo):
                self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
                continue
            
            while not self.crane_leave(craneNo, areaNo):
                pass

            self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
            if areaNo[-2:] == '堆垛':
                self.logger.debug(f"天车{craneNo}区域{areaNo}：等待识别信号")
                stack_change = self.stack_manager.wait_signal(areaNo[:-2])
                if stack_change[0] > 0:
                    if self.billetsNo[craneNo] == "":
                        self.logger.debug(f"天车{craneNo}区域{areaNo}：未携带钢坯")
                    else:
                        self.unload_billet(craneNo, areaNo, stack_change[1], stack_change[2])
                elif stack_change[0] < 0:
                    self.logger.info(f"天车{craneNo}区域{areaNo}：获取到钢坯({stack_change[1]}, {stack_change[2]})")
                    self.billet_layer_addr[craneNo] = stack_change
                    self.billets_from_stack[craneNo] = areaNo

    def get_billet(self, craneNo, areaNo):
        # 阻塞获取
        start = self.areas[areaNo][0]
        end = self.areas[areaNo][1]
        tmp = []
        while not bool(tmp):
            if self.cranes[craneNo].data < start or self.cranes[craneNo].data > end:
                return False
            if areaNo == "6#小冷床(北)":
                tmp = self.tracer_6.get_billet("left")
            elif areaNo == "6#小冷床(南)":
                tmp = self.tracer_6.get_billet("right")
            elif areaNo == "5#小冷床(北)":
                tmp = self.tracer_5.get_billet("left")
            elif areaNo == "5#小冷床(南)":
                tmp = self.tracer_5.get_billet("right")
            time.sleep(0.5)
        
        self.billetsNo[craneNo] = ','.join(tmp)
        self.billets_from[craneNo] = areaNo
        return tmp

    def unload_billet(self, craneNo, areaNo, layer=0, addr=0):
        # 直接放下
        tmp = self.billetsNo[craneNo]
        self.billetsNo[craneNo] = ""
        tmp_stack_addr = self.billet_layer_addr[craneNo]
        self.billet_layer_addr[craneNo] = [0, 0, 0]
        tmp_from = self.billets_from[craneNo]
        self.billets_from[craneNo] = ""
        tmp_from_stack = self.billets_from_stack[craneNo]
        self.billets_from_stack[craneNo] = ""
        if areaNo == "车位1":
            if tmp_stack_addr[0]:
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯({tmp_stack_addr[1]}, {tmp_stack_addr[2]})")
                self.sender.stack_car_save(self.parking.ccmNo_list[0], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from_stack, areaNo, tmp_stack_addr[1], tmp_stack_addr[2])
            elif tmp and not tmp.startswith("00"):
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
                self.sender.car_save(self.parking.ccmNo_list[0], tmp, self.parking.current_car[0], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, areaNo)
        if areaNo == "车位2":
            if tmp_stack_addr[0]:
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯({tmp_stack_addr[1]}, {tmp_stack_addr[2]})")
                self.sender.stack_car_save(self.parking.ccmNo_list[1], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from_stack, areaNo, tmp_stack_addr[1], tmp_stack_addr[2])
            elif tmp and not tmp.startswith("00"):
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
                self.sender.car_save(self.parking.ccmNo_list[1], tmp, self.parking.current_car[1], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, areaNo)
        if areaNo == "车位3":
            if tmp_stack_addr[0]:
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯({tmp_stack_addr[1]}, {tmp_stack_addr[2]})")
                self.sender.stack_car_save(self.parking.ccmNo_list[2], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from_stack, areaNo, tmp_stack_addr[1], tmp_stack_addr[2])
            elif tmp and not tmp.startswith("00"):
                self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
                self.sender.car_save(self.parking.ccmNo_list[2], tmp, self.parking.current_car[2], craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, areaNo)
        elif areaNo == "高线辊道":
            self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
            if not tmp.startswith("00"):
                self.sender.host_send("6", tmp, "高线", craneNo, tmp_from)
        elif areaNo == "601堆垛":
            self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
            self.sender.stack_add('6', tmp, craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, '601堆垛', layer, addr)
        elif areaNo == "501堆垛":
            self.logger.info(f"天车{craneNo}区域{areaNo}：放入钢坯{tmp}")
            self.sender.stack_add('5', tmp, craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, '501堆垛', layer, addr)