Python连接FactoryIO仿真控制练习
概述：
今天下午没什么事，又看了一下FactoryIO仿真软件，以前做这种控制总是用PLC去做，使用PLC做逻辑控制的时候，定时器、计数器、脉冲检测等一般都为既有的功能块，直接调用就可以了，相对逻辑实现不用考虑那么多底层逻辑的细节，最近正在学习python，差不多有三个月了，所以找了个简单的控制例程，打算用python写一下控制逻辑，思考的过程挺有意思，和大家分享一下。使用的例程是FactoryIO自带的一个简单例程“Sort by Weight”，即使用称重皮带检测重量，通过转向盘进行分拣物品。
一、通讯连接
FactoryIO作为一款自动化应用类的仿真教学软件，提供了多种连接各类品牌的控制器的连接方式，可以连接真实PLC也可以连接部分品牌的PLC仿真软件。对于未列出的型号的控制器，也可以通过OPC Clinet和ModbusTCP进行连接。我在百度上查阅了一些例程，python实现OPC UA、OPC DA和socker server，client等都有相应的库，因此在通讯连接上没有耽误太多时间。这里选择了使用Modbus TCP/IP Client的连接方式，使用Factory IO作为ModbusTCP Server，Python作为Client主动读写数据。
二、 界面UI
Pyqt刚开始学习，还比较生疏，所以选择用tkinter做了个简单的界面。
界面上构成组件不是很多，但是手动调整还是挺耽误时间的，因此使用了Visual TK网站上提供的在线拖拽构建界面的方式，网址是：https://www.visualtk.com/，可以实现和pyqt的qtcerater类似的功能，但是只能支持tkinter的部分组件，生成后的代码需要手动调整一下组件命名。
生成后的UI文件如下：
# _*_ coding:utf-8 _*_
""" --------------------------------------------------
文件名称: PythonWithFactoryIO-ui_mian-qsp34
日期时间: 2020-08-15-17:54
文件备注:
---------------------------------------------------"""
import tkinter as tk
import tkinter.font as tkFont
class UiSetup:
"""--"""
def __init__(self, root):
# setting title
self.root = root
self.root.title()
# setting window size
width = 440
height = 380
screenwidth = self.root.winfo_screenwidth()
screenheight = self.root.winfo_screenheight()
alignstr = '%dx%d+%d+%d' % (width, height, (screenwidth - width) / 2, (screenheight - height) / 2)
self.root.geometry(alignstr)
self.root.resizable(width=False, height=False)
self.button_connect_factory = tk.Button(self.root)
self.button_connect_factory["bg"] = "#dddddd"
ft = tkFont.Font(family='Times', size=10)
self.button_connect_factory["font"] = ft
self.button_connect_factory["fg"] = "#000000"
self.button_connect_factory["justify"] = "center"
self.button_connect_factory["text"] = "连接/断开"
self.button_connect_factory.place(x=80, y=310, width=79, height=30)
self.button_connect_factory["command"] = self.button_connect_factory_command
self.button_start_control = tk.Button(self.root)
self.button_start_control["bg"] = "#dddddd"
ft = tkFont.Font(family='Times', size=10)
self.button_start_control["font"] = ft
self.button_start_control["fg"] = "#000000"
self.button_start_control["justify"] = "center"
self.button_start_control["text"] = "启动/停止"
self.button_start_control.place(x=320, y=310, width=70, height=30)
self.button_start_control["command"] = self.button_start_control_command
self.entry_show_di = tk.Entry(self.root)
self.entry_show_di["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_di["font"] = ft
self.entry_show_di["fg"] = "#333333"
self.entry_show_di["justify"] = "center"
self.entry_show_di["text"] = "Entry"
self.entry_show_di.place(x=80, y=110, width=312, height=30)
self.entry_show_do = tk.Entry(self.root)
self.entry_show_do["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_do["font"] = ft
self.entry_show_do["fg"] = "#333333"
self.entry_show_do["justify"] = "center"
self.entry_show_do["text"] = "Entry"
self.entry_show_do.place(x=80, y=190, width=312, height=30)
GLabel_901 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_901["font"] = ft
GLabel_901["fg"] = "#333333"
GLabel_901["justify"] = "center"
GLabel_901["text"] = "DI"
GLabel_901.place(x=0, y=110, width=70, height=25)
GLabel_3 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_3["font"] = ft
GLabel_3["fg"] = "#333333"
GLabel_3["justify"] = "center"
GLabel_3["text"] = "DO"
GLabel_3.place(x=0, y=190, width=70, height=25)
GLabel_339 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_339["font"] = ft
GLabel_339["fg"] = "#333333"
GLabel_339["justify"] = "center"
GLabel_339["text"] = "执行周期"
GLabel_339.place(x=0, y=50, width=70, height=25)
self.entry_show_cycle_time = tk.Entry(self.root)
self.entry_show_cycle_time["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_cycle_time["font"] = ft
self.entry_show_cycle_time["fg"] = "#333333"
self.entry_show_cycle_time["justify"] = "center"
self.entry_show_cycle_time["text"] = "Entry"
self.entry_show_cycle_time.place(x=80, y=50, width=71, height=30)
GLabel_738 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_738["font"] = ft
GLabel_738["fg"] = "#333333"
GLabel_738["justify"] = "center"
GLabel_738["text"] = "AI"
GLabel_738.place(x=0, y=150, width=70, height=25)
GLabel_538 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_538["font"] = ft
GLabel_538["fg"] = "#333333"
GLabel_538["justify"] = "center"
GLabel_538["text"] = "AO"
GLabel_538.place(x=20, y=230, width=32, height=30)
self.entry_show_ai = tk.Entry(self.root)
self.entry_show_ai["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_ai["font"] = ft
self.entry_show_ai["fg"] = "#333333"
self.entry_show_ai["justify"] = "center"
self.entry_show_ai["text"] = "Entry"
self.entry_show_ai.place(x=80, y=150, width=313, height=30)
self.entry_show_ao = tk.Entry(self.root)
self.entry_show_ao["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_ao["font"] = ft
self.entry_show_ao["fg"] = "#333333"
self.entry_show_ao["justify"] = "center"
self.entry_show_ao["text"] = "Entry"
self.entry_show_ao.place(x=80, y=230, width=314, height=30)
GLabel_203 = tk.Label(self.root)
ft = tkFont.Font(family='Times', size=10)
GLabel_203["font"] = ft
GLabel_203["fg"] = "#333333"
GLabel_203["justify"] = "center"
GLabel_203["text"] = "通讯周期"
GLabel_203.place(x=180, y=50, width=70, height=25)
self.entry_show_connect_time = tk.Entry(self.root)
self.entry_show_connect_time["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_connect_time["font"] = ft
self.entry_show_connect_time["fg"] = "#333333"
self.entry_show_connect_time["justify"] = "center"
self.entry_show_connect_time["text"] = "Entry"
self.entry_show_connect_time.place(x=250, y=50, width=79, height=30)
self.entry_show_counter_left = tk.Entry(root)
self.entry_show_counter_left["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_counter_left["font"] = ft
self.entry_show_counter_left["fg"] = "#333333"
self.entry_show_counter_left["justify"] = "center"
self.entry_show_counter_left["text"] = "Entry"
self.entry_show_counter_left.place(x=80, y=270, width=70, height=25)
self.entry_show_counter_right = tk.Entry(root)
self.entry_show_counter_right["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_counter_right["font"] = ft
self.entry_show_counter_right["fg"] = "#333333"
self.entry_show_counter_right["justify"] = "center"
self.entry_show_counter_right["text"] = "Entry"
self.entry_show_counter_right.place(x=200, y=270, width=70, height=25)
self.entry_show_counter_front = tk.Entry(root)
self.entry_show_counter_front["borderwidth"] = "1px"
ft = tkFont.Font(family='Times', size=10)
self.entry_show_counter_front["font"] = ft
self.entry_show_counter_front["fg"] = "#333333"
self.entry_show_counter_front["justify"] = "center"
self.entry_show_counter_front["text"] = "Entry"
self.entry_show_counter_front.place(x=320, y=270, width=70, height=25)
GLabel_281 = tk.Label(root)
ft = tkFont.Font(family='Times', size=10)
GLabel_281["font"] = ft
GLabel_281["fg"] = "#333333"
GLabel_281["justify"] = "center"
GLabel_281["text"] = "左"
GLabel_281.place(x=0, y=270, width=70, height=25)
GLabel_761 = tk.Label(root)
ft = tkFont.Font(family='Times', size=10)
GLabel_761["font"] = ft
GLabel_761["fg"] = "#333333"
GLabel_761["justify"] = "center"
GLabel_761["text"] = "右"
GLabel_761.place(x=140, y=270, width=70, height=25)
GLabel_633 = tk.Label(root)
ft = tkFont.Font(family='Times', size=10)
GLabel_633["font"] = ft
GLabel_633["fg"] = "#333333"
GLabel_633["justify"] = "center"
GLabel_633["text"] = "前"
GLabel_633.place(x=260, y=270, width=70, height=25)
def button_connect_factory_command(self):
print("command")
def button_start_control_command(self):
print("command")
if __name__ == "__main__":
root = tk.Tk()
app = UiSetup(root, 'MY WINDOWS')
root.mainloop()
三、 控制逻辑
实现的代码还是比较混乱，但是只是作为练习使用，有空再细调一下，目前可实现基本的控制功能，存在的问题有：
通讯过程没有进行单独的类实现，所以代码有些繁琐；
定时器类没有实现，逻辑暂时没有想好；
传送带类仅实现了控制、计数功能，保护，超时停机没有实现；
报警、急停点暂时未考虑。
代码如下，实现逻辑比较简单：
# _*_ coding:utf-8 _*_
""" --------------------------------------------------
文件名称: PythonWithFactoryIO-qqq-qsp34
日期时间: 2020-08-15-13:17
文件备注: Python做ModbusTCP Client连接FactoryIO
---------------------------------------------------"""
import modbus_tk.modbus_tcp as mt
import modbus_tk.defines as md
import tkinter as tk
import ui_mian
import time
class PyController(ui_mian.UiSetup):
"""--"""
def __init__(self, root):
super().__init__(root)
self.left_conveyor = ConveyorControl()
self.right_conveyor = ConveyorControl()
self.front_conveyor = ConveyorControl()
self.system_run = int(0)
self.system_stop = int(1)
self.InputBool = [0 for i in range(14)]
self.InputBoolPreCycle = [0 for i in range(14)]
self.InputBoolTRing = [0 for i in range(14)]
self.InputRegister = int(0)
self.OutputBool = [0 for i in range(12)]
self.HoldingRegister = [0 for i in range(4)]
self.bili = 0
self.bala = 0
self.weight = 0
self.left_counter = 0
self.right_counter = 0
self.front_counter = 0
self.cycle_time = 50
self.master = mt.TcpMaster(host="192.168.29.50") # host="192.168.29.50", port=502, timeout_in_sec=5.0
self.master.set_timeout(5.0)
self.entry_var_show_di_value = tk.StringVar()
self.entry_var_show_do_value = tk.StringVar()
self.entry_var_show_ai_value = tk.StringVar()
self.entry_var_show_ao_value = tk.StringVar()
self.entry_var_show_cycle_time = tk.StringVar()
self.entry_var_show_connect_time = tk.StringVar()
self.entry_var_show_counter_left = tk.StringVar()
self.entry_var_show_counter_right = tk.StringVar()
self.entry_var_show_counter_front = tk.StringVar()
self.entry_var_show_di_value.set(self.InputBool)
self.entry_var_show_do_value.set(self.OutputBool)
self.entry_var_show_ai_value.set(self.InputRegister)
self.entry_var_show_ao_value.set(self.HoldingRegister)
self.entry_var_show_cycle_time.set(50)
self.entry_var_show_connect_time.set(0)
self.entry_show_di['textvariable'] = self.entry_var_show_di_value
self.entry_show_do['textvariable'] = self.entry_var_show_do_value
self.entry_show_ai['textvariable'] = self.entry_var_show_ai_value
self.entry_show_ao['textvariable'] = self.entry_var_show_ao_value
self.entry_show_cycle_time['textvariable'] = self.entry_var_show_cycle_time
self.entry_show_connect_time['textvariable'] = self.entry_var_show_connect_time
self.entry_show_counter_left['textvariable'] = self.entry_var_show_counter_left
self.entry_show_counter_right['textvariable'] = self.entry_var_show_counter_right
self.entry_show_counter_front['textvariable'] = self.entry_var_show_counter_front
self.button_connect_factory['command'] = self.start_connect
self.button_start_control['command'] = self.start_control
def read_data(self):
"""--"""
"""master.execute(slave=255, function_code=md.READ_HOLDING_REGISTERS, starting_address=1, quantity_of_x=1,
output_value=1)"""
# 读输入线圈
self.InputBool = self.master.execute(255, md.READ_DISCRETE_INPUTS, 0, 14)
self.entry_var_show_di_value.set(self.InputBool)
# 读输入寄存器
self.InputRegister = self.master.execute(255, md.READ_INPUT_REGISTERS, 0, 1, output_value=1)
self.entry_var_show_ai_value.set(self.InputRegister)
self.root.update()
def write_data(self):
"""--"""
# 写多个线圈
output_coils_bool = self.master.execute(255, md.WRITE_MULTIPLE_COILS, 0, output_value=self.OutputBool)
output_holding_register = self.master.execute(255, md.WRITE_MULTIPLE_REGISTERS, 10, output_value=self.HoldingRegister)
self.root.update()
# 延时
delay_time_str = self.entry_var_show_cycle_time.get()
delay_time_int = int(10 if delay_time_str == '' else delay_time_str)
self.root.after(delay_time_int)
def control(self):
"""--"""
# 更新变量
at_scale_entry = self.InputBool[0]
at_scale = self.InputBool[1]
at_scale_exit = self.InputBool[2]
at_left_entry = self.InputBool[3]
at_exit_left = self.InputBool[4]
at_forward_entry = self.InputBool[5]
at_exit_front = self.InputBool[6]
at_right_entry = self.InputBool[7]
at_exit_right = self.InputBool[8]
start = self.InputBool[9]
reset = self.InputBool[10]
stop = self.InputBool[11]
auto = self.InputBool[12]
factory_io_running = self.InputBool[13]
# 获取脉冲并以脉冲进行计数
for i in range(len(self.InputBool)):
self.InputBoolTRing[i] = self.InputBool[i] and (not self.InputBoolPreCycle[i])
self.InputBoolPreCycle = self.InputBool
at_forward_entry = self.InputBoolTRing[5]
at_left_entry = self.InputBoolTRing[3]
at_right_entry = self.InputBoolTRing[7]
self.left_counter += at_left_entry
self.right_counter += at_right_entry
self.front_counter += at_forward_entry
# 判断左、右、前行
if at_scale:
self.weight = int(self.InputRegister[0])
# print(weight)
# 起保停
self.system_run = (start or self.system_run) and stop and self.system_stop
entry_conveyor = self.system_run
start_light = self.system_run
weight_conveyor = self.system_run
send_forward = self.system_run
if 700 < self.weight:
send_left = 1
send_right = 0
send_front = 0
elif 350 <= self.weight < 700:
send_left = 0
send_right = 1
send_front = 0
else:
send_left = 0
send_right = 0
send_front = 1
# 传送带控制 计数大于1运行，等于0停止
self.left_conveyor.enter_signal = send_left and at_scale_exit # at_left_entry
self.left_conveyor.out_signal = at_exit_left
left_conveyor = self.left_conveyor.control()
self.entry_var_show_counter_left.set(self.left_conveyor.counter_on_conveyor)
self.right_conveyor.enter_signal = send_right and at_scale_exit # at_right_entry
self.right_conveyor.out_signal = at_exit_right
right_conveyor = self.right_conveyor.control()
self.entry_var_show_counter_right.set(self.right_conveyor.counter_on_conveyor)
self.front_conveyor.enter_signal = send_front and at_scale_exit # at_forward_entry
self.front_conveyor.out_signal = at_exit_front
front_conveyor = self.front_conveyor.control()
self.entry_var_show_counter_front.set(self.front_conveyor.counter_on_conveyor)
# 更新输出
self.OutputBool[0] = entry_conveyor
# OutputBool[1] = load_scale
self.OutputBool[2] = send_left
self.OutputBool[3] = left_conveyor
self.OutputBool[4] = send_right
self.OutputBool[5] = right_conveyor
self.OutputBool[6] = send_forward
self.OutputBool[7] = front_conveyor
self.OutputBool[8] = start_light
# OutputBool[9] = reset_light
# OutputBool[10] = stop_light
self.OutputBool[11] = weight_conveyor
self.entry_var_show_do_value.set(self.OutputBool)
self.HoldingRegister[0] = self.left_counter
self.HoldingRegister[1] = self.front_counter
self.HoldingRegister[2] = self.right_counter
self.HoldingRegister[3] = self.weight
self.entry_var_show_ao_value.set(self.HoldingRegister)
root.update()
def start_connect(self):
"""--"""
self.bili = ~self.bili
self.button_connect_factory['text'] = "断开" if self.bili else '连接'
while self.bili:
start_time = int(time.perf_counter()*1000)
self.read_data()
if self.bala:
self.control()
self.write_data()
end_time = int(time.perf_counter()*1000)
self.entry_var_show_connect_time.set(end_time-start_time)
def start_control(self):
"""--"""
self.bala = ~self.bala
self.button_start_control['text'] = "停止" if self.bala else '启动'
class ConveyorControl:
"""--"""
def __init__(self):
self.run_control = 0
self.counter_on_conveyor = 0
self.counter_enter = 1
self.counter_out = 0
self.enter_signal = 0
self.enter_signal_pre = 0
self.enter_signal_tr = 0
self.out_signal = 0
self.out_signal_pre = 0
self.out_signal_tr = 0
def control(self):
"""--"""
self.counter()
self.run_control = 1 if self.counter_on_conveyor > 0 else 0
return self.run_control
def counter(self):
"""--"""
self.enter_signal_tr = self.enter_signal and (not self.enter_signal_pre)
if self.out_signal == 1 and self.out_signal_pre == 0:
self.out_signal_tr = 1
else:
self.out_signal_tr = 0
self.out_signal_tr = self.out_signal and (not self.out_signal_pre)
self.counter_enter += self.enter_signal_tr
self.counter_out += self.out_signal_tr
self.enter_signal_pre = self.enter_signal
self.out_signal_pre = self.out_signal
self.counter_on_conveyor = self.counter_enter-self.counter_out
class Timer:
"""--"""
def __init__(self, cycle, my_time):
self.TimerOn = 0
self.time = my_time
self.count = 0
def timing(self):
"""--"""
if self.count < self.time:
self.count += self.time
self.TimerOn = 0
else:
self.TimerOn = 1
def reset_time(self):
"""--"""
self.count = 0
self.TimerOn = 0
if __name__ == "__main__":
root = tk.Tk()
app = PyController(root)
root.mainloop()
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