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

class Crane:
    def __init__(self, data_s7: S7data, tracer_5: Trace_pusher, tracer_6: Trace_pusher, parking: Parking, sender: Sender, logger: Logger):
        self.data = data_s7
        self.tracer_5 = tracer_5
        self.tracer_6 = tracer_6
        self.parking = parking
        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.billets_from = {
            "A1": "",
            "A2": "",
            "A3": ""
        }

        self.areas = {
            "6#小冷床(左)": [34000, 38500],
            "6#小冷床(右)": [22000, 24000],
            "车位3": [2000, 4000],
            "高线辊道": [60300, 62300],
            "601堆垛": [10000, 14000],
            "5#小冷床(左)": [86000, 95000],
            "5#小冷床(右)": [72140, 76140],
            "501堆垛": [105520, 117725],
            "车位1": [119370, 122395],
            "车位2": [41800, 43800]
        }

        self.threads_poor = [
            threading.Thread(target=self.area_producer, args=("6#小冷床(左)",)),
            threading.Thread(target=self.area_producer, args=("6#小冷床(右)",)),
            threading.Thread(target=self.area_producer, args=("5#小冷床(左)",)),
            threading.Thread(target=self.area_producer, args=("5#小冷床(右)",)),
            threading.Thread(target=self.area_consumer, args=("车位1",)),
            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_consumer, args=("601堆垛",)),
            threading.Thread(target=self.area_consumer, 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 >= 18:
                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}正在等待或尝试夹起钢坯")
                if self.get_billet(craneNo, areaNo):
                    self.logger.debug(f"天车{craneNo}获取到钢坯")
                    #test
                    if '5#' in areaNo:
                        if '左' in areaNo:
                            self.logger.debug(f"左侧冷床目前情况:{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"右侧冷床目前情况:{len(self.tracer_5.bed_right[2])}根|{len(self.tracer_5.bed_right[1])}根|{len(self.tracer_5.bed_right[0])}根")
                else:
                    self.logger.debug(f"天车{craneNo}未获取到钢坯直接离开")
            else:
                self.logger.debug(f"天车{craneNo}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):
        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}未携带钢坯")
            else:
                self.logger.debug(f"天车{craneNo}正在等待或尝试卸下钢坯")
                self.unload_billet(craneNo, areaNo)

            while not self.crane_leave(craneNo, areaNo):
                pass
            
            self.logger.debug(f"天车{craneNo}离开区域{areaNo}")
            time.sleep(1)

    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(左)":
                tmp = self.tracer_6.get_billet("left")
            elif areaNo == "6#小冷床(右)":
                tmp = self.tracer_6.get_billet("right")
            elif areaNo == "5#小冷床(左)":
                tmp = self.tracer_5.get_billet("left")
            elif areaNo == "5#小冷床(右)":
                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):
        # 直接放下
        tmp = self.billetsNo[craneNo]
        self.billetsNo[craneNo] = ""
        tmp_from = self.billets_from[craneNo]
        self.billets_from[craneNo] = ""
        if areaNo == "车位1":
            self.logger.info(f"有一夹子钢坯放置进了车位1")
            if not tmp.startswith("00"):
                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":
            self.logger.info(f"有一夹子钢坯放置进了车位2")
            if not tmp.startswith("00"):
                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":
            self.logger.info(f"有一夹子钢坯放置进了车位3")
            if not tmp.startswith("00"):
                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"有一夹子钢坯放置进了高线辊道")
            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"有一夹子钢坯放置进了601堆垛")
            self.sender.stack_add('6', tmp, craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, '601堆垛')
        elif areaNo == "501堆垛":
            self.logger.info(f"有一夹子钢坯放置进了501堆垛")
            self.sender.stack_add('5', tmp, craneNo, time.strftime('%Y-%m-%d %H:%M:%S', time.localtime()), tmp_from, '501堆垛')