修改问题.md，且新增data_logger.py画图模块

PcControl.py

@@ -771,10 +771,7 @@ class MT2AM8Client:
         # Map the full travel range to the configured analog-output range.
         # The lower endpoint must include volthege_min; otherwise position 0
         # produces raw value 0 and is rejected by write_analog_output().
-        raw_value = int(
+        raw_value = int( voltage_distance / x_max * volthege_max )
-            volthege_min
-            + voltage_distance / x_max * (volthege_max - volthege_min)
-        )
         # print(f"设置电机行程为 {voltage_distance}，模拟量输出值 {raw_value}")
         return self.write_analog_output(channel, raw_value)
 

config.py

@@ -17,8 +17,8 @@ PRESSURE_RANGE_KPA = 400.0
 FLOW_METER_RANGE_SLM = 300.0
 
 # AI/AO 通道均从 0 开始。AI0 和 AO0 属于不同的寄存器区，可以同时使用。
-FLOW_INPUT_CHANNEL = 0
+FLOW_INPUT_CHANNEL = 1
-PRESSURE_INPUT_CHANNEL = 1       # 没有压力传感器时改为 None
+PRESSURE_INPUT_CHANNEL = 0       # 没有压力传感器时改为 None
 MOTOR_OUTPUT_CHANNEL = 0
 
 # ---------------------------------------------------------------------------
@@ -63,7 +63,7 @@ MOTOR_OPEN_POSITION = 240.0
 # 物理读数允许范围；超过范围立即关阀。
 FLOW_VALID_MIN_SLM = -2.0
 FLOW_VALID_MAX_SLM = 120.0
-MAX_PRESSURE_KPA = 350.0         # 必须按实际管路额定压力确认
+MAX_PRESSURE_KPA = 400         # 必须按实际管路额定压力确认
 
 # 短暂读取失败时保持上一输出，不下发新位置；连续达到阈值后关阀。
 MAX_CONSECUTIVE_FLOW_FAILURES = 3
@@ -73,6 +73,10 @@ MAX_CONSECUTIVE_PRESSURE_FAILURES = 3
 LOG_DIRECTORY = "logs"
 LOG_FILE_NAME = "flow_control.log"
 
+# 每次运行的逐周期数据和曲线图保存目录（相对于工程目录）。
+DATA_DIRECTORY = "data"
+PLOT_DPI = 160
+
 
 def validate_config():
     """在接触硬件前检查明显的配置错误。"""
@@ -94,4 +98,3 @@ def validate_config():
         raise ValueError("MAX_CONSECUTIVE_FLOW_FAILURES 必须至少为 1")
     if PRESSURE_INPUT_CHANNEL is not None and MAX_PRESSURE_KPA is None:
         raise ValueError("启用压力通道时必须配置 MAX_PRESSURE_KPA")
-

data_logger.py

@@ -0,0 +1,189 @@
+"""逐周期保存控制数据，并在运行结束时生成三联曲线图。"""
+
+import csv
+from datetime import datetime
+import math
+from pathlib import Path
+
+
+CSV_FIELDS = (
+    "time_s",
+    "timestamp",
+    "target_flow_slm",
+    "measured_flow_slm",
+    "opening_pct",
+    "pressure_kpa",
+    "error_slm",
+    "motor_position",
+    "actual_dt_s",
+    "status",
+)
+
+
+class FlowRunRecorder:
+    """把每个控制周期写入 CSV，并在结束时输出一张三联图。"""
+
+    def __init__(self, output_directory, *, plot_dpi=160):
+        output_dir = Path(output_directory)
+        output_dir.mkdir(parents=True, exist_ok=True)
+
+        run_id = datetime.now().strftime("%Y%m%d_%H%M%S")
+        self.csv_path = output_dir / f"flow_run_{run_id}.csv"
+        self.image_path = output_dir / f"flow_run_{run_id}.png"
+        self.plot_dpi = int(plot_dpi)
+
+        self._file = self.csv_path.open("w", newline="", encoding="utf-8-sig")
+        self._writer = csv.DictWriter(self._file, fieldnames=CSV_FIELDS)
+        self._writer.writeheader()
+        self._file.flush()
+        self._first_timestamp = None
+        self.sample_count = 0
+        self._closed = False
+
+    def record(self, result):
+        """保存一个 ControlStepResult；每次写入后立即刷新到磁盘。"""
+        if self._closed:
+            raise RuntimeError("记录器已经关闭")
+
+        if self._first_timestamp is None:
+            self._first_timestamp = float(result.timestamp)
+        elapsed_s = max(0.0, float(result.timestamp) - self._first_timestamp)
+
+        self._writer.writerow(
+            {
+                "time_s": f"{elapsed_s:.6f}",
+                "timestamp": f"{float(result.timestamp):.6f}",
+                "target_flow_slm": self._format_value(result.target_flow_slm),
+                "measured_flow_slm": self._format_value(
+                    result.measured_flow_slm
+                ),
+                "opening_pct": self._format_value(result.opening_pct),
+                "pressure_kpa": self._format_value(result.pressure_kpa),
+                "error_slm": self._format_value(result.error_slm),
+                "motor_position": self._format_value(result.motor_position),
+                "actual_dt_s": self._format_value(result.actual_dt_s),
+                "status": result.status,
+            }
+        )
+        self._file.flush()
+        self.sample_count += 1
+
+    def finalize(self):
+        """关闭 CSV 并生成 PNG；无采样点时只保留 CSV。"""
+        self.close()
+        if self.sample_count == 0:
+            return None
+        self._create_plot()
+        return self.image_path
+
+    def close(self):
+        if not self._closed:
+            self._file.flush()
+            self._file.close()
+            self._closed = True
+
+    def _create_plot(self):
+        # 使用无界面后端，保证从终端运行和无显示器环境都能保存图片。
+        import matplotlib
+
+        matplotlib.use("Agg")
+        import matplotlib.pyplot as plt
+
+        time_s = []
+        target_flow = []
+        measured_flow = []
+        opening = []
+        pressure = []
+
+        with self.csv_path.open("r", newline="", encoding="utf-8-sig") as file:
+            for row in csv.DictReader(file):
+                time_s.append(float(row["time_s"]))
+                target_flow.append(self._float_or_nan(row["target_flow_slm"]))
+                measured_flow.append(
+                    self._float_or_nan(row["measured_flow_slm"])
+                )
+                opening.append(self._float_or_nan(row["opening_pct"]))
+                pressure.append(self._float_or_nan(row["pressure_kpa"]))
+
+        figure, axes = plt.subplots(
+            3,
+            1,
+            figsize=(12, 10),
+            sharex=True,
+            constrained_layout=True,
+        )
+        figure.suptitle("Gas Flow Control Response", fontsize=15)
+
+        axes[0].plot(
+            time_s,
+            measured_flow,
+            color="#1565C0",
+            linewidth=1.4,
+            label="Measured flow",
+        )
+        axes[0].plot(
+            time_s,
+            target_flow,
+            color="#D84315",
+            linewidth=1.5,
+            linestyle="--",
+            label="Target flow",
+        )
+        axes[0].set_ylabel("Flow (SLM)")
+        axes[0].set_title("Flow response")
+        axes[0].legend(loc="best")
+
+        axes[1].plot(
+            time_s,
+            opening,
+            color="#2E7D32",
+            linewidth=1.4,
+        )
+        axes[1].set_ylabel("Opening (%)")
+        axes[1].set_title("Valve opening")
+        axes[1].set_ylim(-2, 102)
+
+        if any(math.isfinite(value) for value in pressure):
+            axes[2].plot(
+                time_s,
+                pressure,
+                color="#6A1B9A",
+                linewidth=1.4,
+            )
+        else:
+            axes[2].text(
+                0.5,
+                0.5,
+                "No pressure data",
+                transform=axes[2].transAxes,
+                ha="center",
+                va="center",
+                color="gray",
+            )
+        axes[2].set_ylabel("Pressure (kPa)")
+        axes[2].set_xlabel("Time (s)")
+        axes[2].set_title("Pressure")
+
+        for axis in axes:
+            axis.grid(True, alpha=0.3, linestyle="--")
+            axis.margins(x=0)
+
+        figure.savefig(self.image_path, dpi=self.plot_dpi, bbox_inches="tight")
+        plt.close(figure)
+
+    @staticmethod
+    def _format_value(value):
+        if value is None:
+            return ""
+        number = float(value)
+        return "" if not math.isfinite(number) else f"{number:.6f}"
+
+    @staticmethod
+    def _float_or_nan(value):
+        if value in (None, ""):
+            return math.nan
+        try:
+            return float(value)
+        except (TypeError, ValueError):
+            return math.nan
+

logs/flow_control.log

@@ -0,0 +1,3 @@
+2026-08-12 17:41:42.305 INFO 正在连接 MT2-AM8 192.168.1.12:502，目标流量=50.000 SLM
+2026-08-12 17:41:45.314 CRITICAL 控制故障：[DEVICE_CONNECT_FAILED] 阶段=STARTUP: 无法连接 MT2-AM8 | 上下文={'host': '192.168.1.12', 'port': 502, 'slave_id': 1}
+2026-08-12 17:41:45.314 INFO 程序结束，退出码=2

main.py

@@ -15,6 +15,7 @@ import time
 
 import config
 from controllers import IncrementalPID
+from data_logger import FlowRunRecorder
 from flow_control import FlowControlFault, FlowControlLoop
 
 
@@ -131,6 +132,7 @@ def run(target_flow_slm):
     controller.set_target_flow(target_flow_slm)
 
     connected = False
+    recorder = None
     exit_code = 0
     try:
         logger.info(
@@ -161,6 +163,11 @@ def run(target_flow_slm):
             )
 
         controller.start(initial_opening=0.0)
+        recorder = FlowRunRecorder(
+            Path(__file__).resolve().parent / config.DATA_DIRECTORY,
+            plot_dpi=config.PLOT_DPI,
+        )
+        logger.info("逐周期数据将保存到 %s", recorder.csv_path)
         logger.info("闭环控制已启动；按 Ctrl+C 停止")
 
         next_deadline = time.perf_counter()
@@ -168,6 +175,7 @@ def run(target_flow_slm):
         while True:
             now = time.perf_counter()
             result = controller.step(now=now)
+            recorder.record(result)
 
             if now >= next_status_time or result.status != "OK":
                 logger.info(format_status(result))
@@ -200,6 +208,19 @@ def run(target_flow_slm):
             except Exception:
                 exit_code = max(exit_code, 5)
                 logger.exception("断开 MT2-AM8 时发生异常")
+
+        if recorder is not None:
+            try:
+                image_path = recorder.finalize()
+                logger.info("控制数据已保存：%s", recorder.csv_path)
+                if image_path is not None:
+                    logger.info("三联曲线图已保存：%s", image_path)
+                else:
+                    logger.warning("本次运行没有采样点，因此未生成曲线图")
+            except Exception:
+                recorder.close()
+                exit_code = max(exit_code, 7)
+                logger.exception("保存控制数据曲线图失败；CSV 数据仍保留")
         logger.info("程序结束，退出码=%d", exit_code)
     return exit_code
 

问题.md

@@ -1,3 +1,6 @@
 1.PcControl.py中set_motor_position方法对于电机行程到模拟量的映射是否考虑了volthege_min不为0的情况？原版未考虑，现版暂时考虑了进去
-2.最大行程是1000还是1062.5？PcControl.py中是1000，而controllers.py中是1062.5
+答：读取数据时考虑了。写入数据无需考虑。
+2.最大行程是1000还是1062.5？PcControl.py中是1000，而controllers.py中是1062.5。
+答：统一改为1000.
 3.init_v预置初始阀门开度是否有用到？read_motor_position读取电机行程，现在是否能做到？
+答：可以读取电机行程，尚未拉取最新PcControl.py。