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添加Raman和xrd相关代码
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WenzheG
Xuwznln
209
unilabos/devices/opsky_Raman/test2.py
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209
unilabos/devices/opsky_Raman/test2.py
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import time
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import csv
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from datetime import datetime
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from pymodbus.client import ModbusTcpClient
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from dmqfengzhuang import scan_once
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from raman_module import run_raman_test
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# =================== 配置 ===================
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PLC_IP = "192.168.1.88"
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PLC_PORT = 502
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ROBOT_IP = "192.168.1.200"
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ROBOT_PORT = 502
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SCAN_CSV_FILE = "scan_results.csv"
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# =================== 通用函数 ===================
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def ensure_connected(client, name, ip, port):
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if not client.is_socket_open():
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print(f"{name} 掉线，正在重连...")
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client.close()
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time.sleep(1)
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new_client = ModbusTcpClient(ip, port=port)
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if new_client.connect():
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print(f"{name} 重新连接成功 ({ip}:{port})")
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return new_client
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else:
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print(f"{name} 重连失败，稍后重试...")
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time.sleep(3)
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return None
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return client
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def safe_read(client, name, func, *args, retries=3, delay=0.3, **kwargs):
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for _ in range(retries):
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try:
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res = func(*args, **kwargs)
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if res and not (hasattr(res, "isError") and res.isError()):
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return res
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except Exception as e:
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print(f"{name} 读异常: {e}")
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time.sleep(delay)
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print(f"{name} 连续读取失败 {retries} 次")
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return None
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def safe_write(client, name, func, *args, retries=3, delay=0.3, **kwargs):
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for _ in range(retries):
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try:
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res = func(*args, **kwargs)
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if res and not (hasattr(res, "isError") and res.isError()):
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return True
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except Exception as e:
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print(f"{name} 写异常: {e}")
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time.sleep(delay)
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print(f"{name} 连续写入失败 {retries} 次")
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return False
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def wait_with_quit_check(robot, seconds, addr_quit=270):
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for _ in range(int(seconds / 0.2)):
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rr = safe_read(robot, "机器人", robot.read_holding_registers,
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address=addr_quit, count=1)
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if rr and rr.registers[0] == 1:
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print("检测到 R270=1，立即退出循环")
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return True
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time.sleep(0.2)
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return False
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# =================== 初始化 ===================
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plc = ModbusTcpClient(PLC_IP, port=PLC_PORT)
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robot = ModbusTcpClient(ROBOT_IP, port=ROBOT_PORT)
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if not plc.connect():
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print("无法连接 PLC")
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exit()
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if not robot.connect():
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print("无法连接 机器人")
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plc.close()
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exit()
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print("✅ PLC 与 机器人连接成功")
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time.sleep(0.5)
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# 伺服使能
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if safe_write(plc, "PLC", plc.write_coil, address=10, value=True):
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print("✅ 伺服使能成功 (M10=True)")
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else:
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print("⚠️ 伺服使能失败")
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# 初始化扫码 CSV
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with open(SCAN_CSV_FILE, "w", newline="", encoding="utf-8") as f:
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csv.writer(f).writerow(["Bottle_No", "Scan_Result", "Time"])
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bottle_count = 0
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print("🟢 等待机器人触发信号... (R260=1扫码 / R256=1拉曼 / R270=1退出)")
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# =================== 主监听循环 ===================
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while True:
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plc = ensure_connected(plc, "PLC", PLC_IP, PLC_PORT) or plc
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robot = ensure_connected(robot, "机器人", ROBOT_IP, ROBOT_PORT) or robot
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# 退出命令检测
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quit_signal = safe_read(robot, "机器人", robot.read_holding_registers,
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address=270, count=1)
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if quit_signal and quit_signal.registers[0] == 1:
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print("🟥 检测到 R270=1，准备退出程序...")
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break
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# 读取关键寄存器
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rr = safe_read(robot, "机器人", robot.read_holding_registers,
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address=256, count=5)
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if not rr:
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time.sleep(0.3)
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continue
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r256, _, r258, r259, r260 = rr.registers[:5]
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# ----------- 扫码部分 (R260=1) -----------
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if r260 == 1:
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bottle_count += 1
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print(f"📸 第 {bottle_count} 瓶触发扫码 (R260=1)")
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try:
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result = scan_once(ip="192.168.1.50", port_in=2001, port_out=2002)
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if result:
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print(f"✅ 扫码成功: {result}")
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timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
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with open(SCAN_CSV_FILE, "a", newline="", encoding="utf-8") as f:
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csv.writer(f).writerow([bottle_count, result, timestamp])
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else:
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print("⚠️ 扫码失败或无返回")
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except Exception as e:
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print(f"❌ 扫码异常: {e}")
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safe_write(robot, "机器人", robot.write_register, address=260, value=0)
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time.sleep(0.2)
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safe_write(robot, "机器人", robot.write_register, address=261, value=1)
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print("➡️ 扫码完成 (R260→0, R261→1)")
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# ----------- 拉曼 + 电机部分 (R256=1) -----------
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if r256 == 1:
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print("⚙️ 检测到 R256=1（放瓶完成）")
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# 电机右转
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safe_write(plc, "PLC", plc.write_register, address=1199, value=1)
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safe_write(plc, "PLC", plc.write_register, address=1200, value=1)
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print("➡️ 电机右转中...")
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if wait_with_quit_check(robot, 3):
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break
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safe_write(plc, "PLC", plc.write_register, address=1199, value=0)
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print("✅ 电机右转完成")
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# 拉曼测试
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print("🧪 开始拉曼测试...")
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try:
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success, file_prefix, df = run_raman_test(
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integration_time=5000,
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laser_power=200,
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save_csv=True,
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save_plot=True,
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normalize=True,
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norm_max=1.0
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)
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if success:
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print(f"✅ 拉曼完成：{file_prefix}.csv / .png")
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else:
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print("⚠️ 拉曼失败")
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except Exception as e:
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print(f"❌ 拉曼测试异常: {e}")
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# 电机左转
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safe_write(plc, "PLC", plc.write_register, address=1299, value=1)
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safe_write(plc, "PLC", plc.write_register, address=1300, value=1)
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print("⬅️ 电机左转中...")
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if wait_with_quit_check(robot, 3):
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break
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safe_write(plc, "PLC", plc.write_register, address=1299, value=0)
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print("✅ 电机左转完成")
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# 写入拉曼完成信号
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safe_write(robot, "机器人", robot.write_register, address=257, value=1)
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print("✅ 已写入 R257=1（拉曼完成）")
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# 延迟清零 R256
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print("⏳ 延迟4秒后清零 R256")
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if wait_with_quit_check(robot, 4):
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break
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safe_write(robot, "机器人", robot.write_register, address=256, value=0)
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print("✅ 已清零 R256")
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# 等待机器人清零 R257
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print("等待 R257 清零中...")
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while True:
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rr2 = safe_read(robot, "机器人", robot.read_holding_registers, address=257, count=1)
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if rr2 and rr2.registers[0] == 0:
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print("✅ 检测到 R257=0，准备下一循环")
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break
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if wait_with_quit_check(robot, 1):
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break
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time.sleep(0.2)
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time.sleep(0.2)
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# =================== 程序退出清理 ===================
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print("🧹 开始清理...")
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safe_write(plc, "PLC", plc.write_coil, address=10, value=False)
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for addr in [256, 257, 260, 261, 270]:
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safe_write(robot, "机器人", robot.write_register, address=addr, value=0)
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plc.close()
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robot.close()
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print("✅ 程序已退出，设备全部复位。")
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