CameraMachine/python/mcu/BaseClass.py

import asyncio, time
from sockets import ConnectionManager
from utils.common import message_queue
from mcu.capture.smart_shooter_class import SmartShooter


class BaseClass:

    def __init__(
            self, websocket_manager: ConnectionManager, smart_shooter: SmartShooter = None
    ):
        self.websocket_manager = websocket_manager
        self.smart_shooter = smart_shooter
        self.msg_type = ""
        self.websocket = None
        # -1连接失败  0未连接 1连接中  2连接成功  3端口占用
        # self.device_status = 2

    def sendSocketMessage(self, code=0, msg="", data=None, device_status=2, msg_type=None):
        t_start = time.time()
        if msg_type:
            message_type = msg_type
        else:
            message_type = self.msg_type
        payload = {
            "code": code,
            "msg": msg,
            "status": device_status,
            "data": data,
            "msg_type": message_type,
        }

        print(f"[T1: {t_start:.4f}] sendSocketMessage 调用, msg={msg}")

        loop = asyncio.get_event_loop()
        if self.websocket == None:
            print(f"[T1: {time.time() - t_start:.4f}s] 走队列路径")
            loop.create_task(message_queue.put(payload))
        else:
            print(f"[T1: {time.time() - t_start:.4f}s] 走直接发送路径")

            async def _do_send():
                t2 = time.time()
                print(f"[T2: {t2 - t_start:.4f}s] 任务开始执行, 准备调用 send_personal_message")
                await self.websocket_manager.send_personal_message(payload, self.websocket)
                t3 = time.time()
                print(f"[T3: {t3 - t_start:.4f}s] send_personal_message 完成, 总耗时: {t3 - t2:.4f}s")

            loop.create_task(_do_send())
        print("\033[1;32;40m 发送消息===>sendSocketMessage \033[0m", data)

    async def asyncSendSocketMessage(self, code=0, msg="", data=None, device_status=2):
        data = {
            "code": code,
            "msg": msg,
            "status": device_status,
            "data": data,
            "msg_type": self.msg_type,
        }
        if self.websocket == None:
            await asyncio.wait_for(message_queue.put(data), timeout=0.1)
        else:
            await self.websocket_manager.send_personal_message(data, self.websocket)

    def change_hex_to_int(self, _bytearray):
        return " ".join([hex(x) for x in _bytearray])

    def read_cmd(self, serial_handle, check=None):
        n = 0
        while 1:
            try:
                read_d = serial_handle.read_all()  # 读取接收到的数据
                self.receive_data += read_d
            except BaseException as e:
                print("171串口接收报错", e)
                self.serial_handle = None
                return False

            if len(self.receive_data) < 4:
                break

            if self.receive_data[0] == 0x55 and self.receive_data[1] == 0x55:
                # print("read ori ", self.change_hex_to_int(self.receive_data))
                data_len = self.receive_data[2]
                if len(self.receive_data) < data_len + 4:
                    # 此处需要超时机制
                    # print("数据长度不够，等待下次读取")
                    # 超时退出
                    # if not self.serial_handle.txdone():
                    #     return None
                    # n += 1
                    # if n > out_time_n:
                    #     return None
                    # time.sleep(0.01)
                    continue
                _data = self.receive_data[3: data_len + 4]
                # 更新缓存区
                self.receive_data = self.receive_data[data_len + 4:]
                # 校验数据
                if 0xFF & ~sum(_data[:-1]) == _data[-1]:
                    # print("receive_data:", self.change_hex_to_int(self.receive_data[:-1]))
                    return _data[:-1]
                else:
                    return None
            else:
                # print("起始位不是 55 55 进行移除", self.receive_data[0])
                # 起始位不是 55 55 进行移除
                while self.receive_data:
                    if len(self.receive_data) == 1:
                        if self.receive_data[0] == 0x55:
                            break
                        else:
                            self.receive_data = b""
                    else:
                        if (
                                self.receive_data[0] == 0x55
                                and self.receive_data[1] == 0x55
                        ):
                            break
                        else:
                            self.receive_data = self.receive_data[1:]

    def write_cmd(self, serial_handle, data: list):
        if serial_handle:
            # data = [(0xff & par1), (0xff & (par1 >> 8))]
            # self.clearn_flush()
            buf = bytearray(b"")
            buf.extend([0x55, 0x55, (0xFF & len(data))])
            buf.extend(data)
            buf.extend([0xFF & ~sum(data)])
            # 55 55 02 5a 01 a4
            # print("send buf  {}".format(self.change_hex_to_int(buf)))
            try:
                serial_handle.write(buf)
                return True
            except:
                serial_handle = None
                _recv_data = b""
                return False