358 lines
12 KiB
Python
358 lines
12 KiB
Python
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from PyQt5 import QtCore
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from pyModbusTCP.client import ModbusClient
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import time
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import struct
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from itertools import chain
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def float32ToIEEE754Int(num):
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convertNum = struct.unpack('<I',struct.pack('<f',num)) # 将浮点数按照4byte float转换
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hex_convertNum = hex(convertNum[0])
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hex_convertNum_Low = hex_convertNum[2:6]
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hex_convertNum_High = hex_convertNum[6:]
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dec_num_Low = 0
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dec_num_High = 0
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if(hex_convertNum_Low):
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dec_num_Low = int(hex_convertNum_Low, 16)
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if (hex_convertNum_High):
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dec_num_High = int(hex_convertNum_High, 16)
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return dec_num_High, dec_num_Low
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class IOcard(QtCore.QThread):
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rawdataState = QtCore.pyqtSignal(bool)
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rawdataINPUT = QtCore.pyqtSignal(bool,bool,bool,bool,bool,bool,bool,bool,bool,bool)
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rawdataMOTOR = QtCore.pyqtSignal(bool,bool,bool,bool,bool)
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def __init__(self, SERVER_HOST,SERVER_PORT, dev_logger=None): # ,parent=None):
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QtCore.QThread.__init__(self)
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print('IOcard0509')
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self.SERVER_HOST = SERVER_HOST
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self.SERVER_PORT = SERVER_PORT
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self.connect = False
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self.running = False
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self._outputFlag = False
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self._outputBit = "0000"
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self._client = None
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self._goHomeFlag = False
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self._dis = -310
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# self._dis = 0
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self._speed = 0
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self._acceleration_up = 32767
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self._acceleration_down = 32767
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self._updataFlag = False
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self.motor_idle_time = 0 # 設定馬達閒置平台移進去時間
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self.dev_logger = dev_logger
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self.MOTORSTATE = []
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def IOCard_connect(self):
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try:
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self._client = ModbusClient(host=self.SERVER_HOST, port=self.SERVER_PORT, timeout=2)
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if self._client.open():
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self.connect = True
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self.running = False
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self.updataDisSpeed(310, 400)#出來
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# print('PLC OK')
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else:
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self.connect = False
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self.running = False
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except Exception as e:
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print(f'{e}\nPLC disconnect')
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self.dev_logger.error('PLC連線失敗')
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self.connect = False
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self.running = False
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def run(self):
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while self.running and self.connect:
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if(not self._outputFlag and not self._goHomeFlag and not self._updataFlag):
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inputState,disAndSpeed,motorState = self._readInput()
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if(inputState != None):
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self.rawdataINPUT.emit(inputState[0],inputState[1],inputState[2],inputState[3],inputState[4],inputState[5],inputState[6],inputState[7],inputState[8],inputState[9])
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self.rawdataMOTOR.emit(motorState[0],motorState[1],motorState[2],motorState[3],motorState[4])
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self.MOTORSTATE = motorState
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else:
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print("PLC error")
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self.dev_logger.error('PLC run error')
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elif(self._updataFlag):
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self._updataDisSpeed()
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self._updataFlag = False
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self.motor_idle_time = 0 # 設定馬達閒置平台移進去時間
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elif(self._outputFlag):
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self._switch(self._outputBit)
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self._outputFlag =False
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elif(self._goHomeFlag):
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self._goHome()
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self._goHomeFlag = False
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self.motor_idle_time = 0 # 設定馬達閒置平台移進去時間
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time.sleep(1 / 100)
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# region IO
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def _updataDisSpeed(self):
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if self.connect:
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acceleration_up = [float32ToIEEE754Int(self._acceleration_up)]
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acceleration_up = list(chain.from_iterable(acceleration_up))
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is_ok = self._client.write_multiple_registers(0x1F4, acceleration_up)
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acceleration_down = [float32ToIEEE754Int(self._acceleration_down)]
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acceleration_down = list(chain.from_iterable(acceleration_down))
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is_ok = self._client.write_multiple_registers(0x1F6, acceleration_down)
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disAndSpeed = [float32ToIEEE754Int(self._dis),float32ToIEEE754Int(self._speed)]
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disAndSpeed = list(chain.from_iterable(disAndSpeed))
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is_ok = self._client.write_multiple_registers(0x00, disAndSpeed)
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# is_ok = self._client.write_multiple_registers(8195, [0X02])
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# # is_ok = self._client.write_multiple_registers(8203, 1)
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# # is_ok = self._client.write_multiple_registers(8202, 1)
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# # is_ok = self._client.write_multiple_registers(8203, 1)
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# print(is_ok)
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# is_ok = self._client.write_multiple_registers(0x02, float32ToIEEE754Int(-1.2))
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#更新
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is_ok = self._client.write_multiple_coils(10, [1])
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#動作
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is_ok = self._client.write_multiple_coils(0, [1])
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return is_ok
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def _goHome(self):
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print(self.connect)
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if self.connect:
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is_ok = self._client.write_multiple_coils(5, [1])
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return is_ok
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def _send0000(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 0, 0, 0, 0, 0, 0])
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return is_ok
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def _send0001(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 0, 1])
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return is_ok
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def _send0010(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 1, 0])
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return is_ok
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def _send0011(self):#detectEnd
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 1, 1, 0, 0, 0, 0, 0])
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return is_ok
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def _send0100(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 1, 0, 0])
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return is_ok
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def _send0101(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 1, 0, 1])
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return is_ok
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def _send0110(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 1, 1, 0])
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return is_ok
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def _send0111(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 1, 1, 1])
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return is_ok
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def _send1000(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 0, 0])
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return is_ok
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def _send1001(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 0, 1])
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return is_ok
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def _send1010(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 1, 0])
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return is_ok
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def _send1011(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 1, 1])
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return is_ok
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def _send1100(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 1, 0, 0])
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return is_ok
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def _send1101(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 1, 0, 1])
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return is_ok
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def _send1110(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 1, 1, 0])
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return is_ok
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def _send1111(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 1, 1, 1, 1, 1, 1, 1])
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return is_ok
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def _send00001111(self):#open all light
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 0, 0, 1, 1, 1, 1])
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return is_ok
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def _send00001011(self):#open AI light
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 0, 0, 1, 0, 1, 1])
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return is_ok
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def _send00001100(self):#open AOI light
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 0, 0, 1, 1, 0, 0])
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return is_ok
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def _send10001011(self):#detectStart_1 : open AI light Green Light
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 0, 0, 1, 0, 1, 1])
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return is_ok
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def _send10001100(self):#detectStart_1 : open AOI light Green Light
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [1, 0, 0, 0, 1, 1, 0, 0])
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return is_ok
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def _send01000000(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 1, 0, 0, 0, 0, 0, 0])
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return is_ok
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def _send00100000(self):
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if self.connect:
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is_ok = self._client.write_multiple_coils(20, [0, 0, 1, 0, 0, 0, 0, 0])
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return is_ok
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def _readInput(self):
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response = self._client.read_coils(20, 10)
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disAndSpeed = self._client.read_holding_registers(300,2)
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if disAndSpeed[0] > 32767:
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disAndSpeed[0] = disAndSpeed[0] - 65536
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motorState = self._client.read_coils(0,8)
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motorState = [motorState[1],motorState[2],motorState[3],motorState[6],motorState[7]]
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return response,disAndSpeed,motorState
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# endregion
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def _switch(self,lang):
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if lang == "0000":
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self._send0000()
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elif lang == "0001":
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self._send0001()
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elif lang == "0010":
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self._send0010()
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elif lang == "0011":
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self._send0011()
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elif lang == "0100":
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self._send0100()
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elif lang == "0101":
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self._send0101()
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elif lang == "0110":
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self._send0110()
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elif lang == "0111":
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self._send0111()
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elif lang == "1000":
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self._send1000()
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elif lang == "1001":
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self._send1001()
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elif lang == "1010":
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self._send1010()
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elif lang == "1011":
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self._send1011()
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elif lang == "1100":
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self._send1100()
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elif lang == "1101":
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self._send1101()
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elif lang == "1110":
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self._send1110()
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elif lang == "1111":
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self._send1111()
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elif lang == "00001111":
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self._send00001111()
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elif lang == "00001011":
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self._send00001011()
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elif lang == "00001100":
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self._send00001100()
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elif lang == "10001011":
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self._send10001011()
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elif lang == "10001100":
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self._send10001100()
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elif lang == "01000000":
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self._send01000000()
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elif lang == "00100000":
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self._send00100000()
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def openAll(self):
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self._outputFlag = True
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self._outputBit = "1111"
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def closeAll(self):
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self._outputFlag = True
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self._outputBit = "0000"
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def openBuzzer(self):
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self._outputFlag = True
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self._outputBit = "0001"
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def openRedLight(self):
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self._outputFlag = True
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self._outputBit = "0010"
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def openRedLight_closeDetctLight(self):
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self._outputFlag = True
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self._outputBit = "00100000"
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def openYellowLight(self):
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self._outputFlag = True
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self._outputBit = "0100"
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def openYellowLight_closeDetctLight(self):
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self._outputFlag = True
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self._outputBit = "01000000"
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def openGreenLight(self):
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self._outputFlag = True
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self._outputBit = "1000"
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def openAllLight(self):
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self._outputFlag = True
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self._outputBit = "00001111"
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def openAILight(self):
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self._outputFlag = True
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self._outputBit = "00001011"
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def openAOILight(self):
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self._outputFlag = True
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self._outputBit = "00001100"
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def detectStart_1(self):
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self._outputFlag = True
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self._outputBit = "10001011"
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def detectStart_2(self):
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self._outputFlag = True
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self._outputBit = "10001100"
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def detectEndNG(self):
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self._outputFlag = True
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self._outputBit = "0011"
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def goHome(self):
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self._goHomeFlag = True
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def updataDisSpeed(self, Dis,Speed):
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# if self._dis + Dis == 0:
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# self._dis = Dis
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# self._speed = Speed
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# self._updataFlag = True
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self._dis = Dis
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self._speed = Speed
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self._updataFlag = True
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def open(self):
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if self.connect:
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self.running = True
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def stop(self):
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if self.connect:
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self.running = False
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def close(self):
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|
if self.connect:
|
||
|
|
self.running = False
|
||
|
|
time.sleep(1)
|
||
|
|
self._client.close()
|