CameraMachine/python/mcu/capture/smart_shooter_class.py

import json
import datetime
import random
import zmq
import asyncio
from PIL import Image
from io import BytesIO
import base64,threading
import zmq, sys, time
from utils.SingletonType import SingletonType
import settings
import logging
from utils.common import message_queue

logger = logging.getLogger(__name__)
# 定义为单例模式,避免被重复实例化
class SmartShooter(metaclass=SingletonType):
    SET_REQ = "tcp://127.0.0.1:54544"
    LISTEN_REQ = "tcp://127.0.0.1:54543"

    def __init__(self, websocket_manager):
        self.msg_type = "smart_shooter"
        self.websocket_manager = websocket_manager
        # 是否停止监听
        self.stop_listen = False
        # 相机连接状态
        self.connect_status = False
        # 实时预览状态
        self.perview_state = False
        self.callback_listen = None
        self.listen_init = None
        self.websocket = None

    def __send_tcp_message(self, socket, msg):
        # await asyncio.sleep(0.01)
        socket.send_string(json.dumps(msg))
        rep = socket.recv()
        str_msg = rep.decode("utf-8")
        json_msg = json.loads(str_msg)
        return json_msg

    def __create_req(self, time_out=5) -> tuple[zmq.Socket, zmq.Context]:
        context = zmq.Context()
        req_socket = context.socket(zmq.REQ)
        # 设置发送超时为 5000 毫秒（5 秒）
        req_socket.setsockopt(zmq.RCVTIMEO, time_out * 1000)
        # 设置接收超时为 5000 毫秒（5 秒）
        req_socket.setsockopt(zmq.SNDTIMEO, time_out * 1000)
        req_socket.setsockopt(zmq.LINGER, 0)  # 设置为 0 表示不等待未完成的操作
        req_socket.connect(self.SET_REQ)
        return req_socket, context

    def __create_listen(self) -> tuple[zmq.Socket, zmq.Context]:
        context = zmq.Context()
        listen_socket = context.socket(zmq.SUB)
        listen_socket.setsockopt(zmq.SUBSCRIBE, b"")
        # 设置发送超时为 5000 毫秒（5 秒）
        listen_socket.setsockopt(zmq.RCVTIMEO, 4000)
        # 设置接收超时为 5000 毫秒（5 秒）
        listen_socket.setsockopt(zmq.SNDTIMEO, 4000)
        listen_socket.setsockopt(zmq.LINGER, 0)  # 设置为 0 表示不等待未完成的操作
        listen_socket.connect(self.LISTEN_REQ)
        return listen_socket, context
    async def GetCameraProperty(self):
        '''获取相机属性'''
        await asyncio.sleep(0.01)
        """
            实时获取相机信息，是否连接、软件是否被打开
            """
        socket, context = self.__create_req(time_out=2)
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "GetCamera"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            json_msg = self.__send_tcp_message(socket, req)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                self.connect_status = False
                msg_send = "相机未连接或软件未打开"
                return False, msg_send
            cameraInfo = json_msg.get("CameraInfo")
            if cameraInfo == None or len(cameraInfo) == 0:
                self.connect_status = False
                msg_send = "相机未连接"
                return False, "相机未连接"
            # 链接的相机
            CameraStatus = False
            CameraIndex =-1
            for cam_idx,item in enumerate(cameraInfo):
                CameraStatus = item.get("CameraStatus") in ["Ready", "Busy"]
                if CameraStatus == True:
                    CameraIndex = cam_idx
                    break
            # CameraStatus = connect_camera.get("CameraStatus")
            if not CameraStatus:
                self.connect_status = False
                msg_send = "相机未连接"
                return False, msg_send
            self.connect_status = True
            msg_send = "相机已连接"
            return True, cameraInfo[CameraIndex].get("CameraPropertyInfo")
        except zmq.Again:
            msg_send = "相机未连接或软件未打开"
            return False, msg_send
        except Exception as e:
            self.connect_status = False
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            return False, msg_send
    async def GetCameraInfo(self, is_send=True, msg_type=""):
        await asyncio.sleep(0.01)
        self.msg_type = msg_type
        """
            实时获取相机信息，是否连接、软件是否被打开
            """
        socket, context = self.__create_req(time_out=2)
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "GetCamera"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            json_msg = self.__send_tcp_message(socket, req)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                self.connect_status = False
                msg_send = "相机未连接或软件未打开"
                if is_send:
                    message = {
                        "code": 1,
                        "msg": msg_send,
                        "data": msg_result,
                        "msg_type": self.msg_type,
                        "device_status": -1,
                    }
                    await self.websocket_manager.send_personal_message(
                        message, self.websocket
                    )
                return False, msg_send
            cameraInfo = json_msg.get("CameraInfo")
            if cameraInfo == None or len(cameraInfo) == 0:
                self.connect_status = False
                msg_send = "相机未连接"
                if is_send:
                    message = {
                        "code": 1,
                        "msg": msg_send,
                        "data": msg_result,
                        "msg_type": self.msg_type,
                        "device_status": -1,
                    }
                    await self.websocket_manager.send_personal_message(
                        message, self.websocket
                    )
                return False, "相机未连接"
            # 链接的相机
            CameraStatus = any(
                item.get("CameraStatus") in ["Ready", "Busy"] for item in cameraInfo
            )
            if not CameraStatus:
                self.connect_status = False
                msg_send = "相机未连接"
                if is_send:
                    message = {
                        "code": 1,
                        "msg": msg_send,
                        "data": msg_result,
                        "msg_type": self.msg_type,
                        "device_status": -1,
                    }
                    await self.websocket_manager.send_personal_message(
                        message, self.websocket
                    )
                return False, msg_send
            self.connect_status = True
            msg_send = "相机已连接"
            if is_send:
                message = {
                    "code": 0,
                    "msg": msg_send,
                    "data": msg_result,
                    "msg_type": self.msg_type,
                    "device_status": 2,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
            # print("相机已连接状态信息---->", cameraInfo)
            return True, "相机已连接"
        except zmq.Again:
            print("获取相机信息超时，继续监听...")
            msg_send = "相机未连接或软件未打开"
            if is_send:
                message = {
                    "code": 1,
                    "msg": msg_send,
                    "data": None,
                    "msg_type": self.msg_type,
                    "device_status": -1,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
            return False, msg_send
        except Exception as e:
            print("拍照异常", e)
            self.connect_status = False
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            if is_send:
                message = {
                    "code": 1,
                    "msg": msg_send,
                    "data": None,
                    "msg_type": self.msg_type,
                    "device_status": -1,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
            return False, msg_send

    async def SetCameraFPS(self, fps=5):
        """
        激活相机预览
        """
        camera_states, _ = await self.GetCameraInfo(is_send=False)
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "LiveviewFPS"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            req["CameraLiveviewFPS"] = fps
            json_msg = self.__send_tcp_message(socket, req)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                self.perview_state = False
                return False, "设置失败"
            return True, "设置失败"
        except:
            self.perview_state = False
            socket.close()
            context.term()
            return False, "相机未连接或软件未打开"

    async def setCameraProperty(self, property="ISO", value=0):
        # SetProperty
        camera_states, _ = await self.GetCameraInfo(is_send=False)
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "SetProperty"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            req["CameraPropertyType"] = str(property)
            req["CameraPropertyValue"] = str(value)
            json_msg = self.__send_tcp_message(socket, req)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                return False, f"{property}设置失败"
            return True, f"{property}设置成功"
        except zmq.Again:
            print(f"设置{property}超时，继续监听...")
        except:
            self.perview_state = False
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            return False, msg_send
    async def getConfigIso(self):
            """获取ISO配置信息"""
            camera_configs = settings.getSysConfigs(
                "camera_configs",
                "iso_config",
                {"low": 100, "high": 6400, "mode": "un_auto"},
            )
            low_iso = camera_configs.get("low", 100)
            high_iso = camera_configs.get("high", 6400)
            return low_iso, high_iso
    async def EnableCameraPreview(self, enable_status=True, msg_type=""):
        self.msg_type = msg_type
        await self.SetCameraFPS(5)
        """
        激活相机预览
        """
        camera_states, _ = await self.GetCameraInfo(is_send=False)
        if not camera_states:
            return False, "请先连接相机"
        try:
            low_iso,high_iso = await self.getConfigIso()
            print("LOW_ISO", low_iso)
            print("HIGH_ISO", high_iso)
            # 等于auto就不设置
            if enable_status == True:
                if str(high_iso).lower() != "auto":
                    await self.setCameraProperty(property="ISO", value=str(high_iso))
                else:
                    print("high_iso 等于auto就不设置")
            if enable_status == False:
                if str(low_iso).lower() != "auto":
                    await self.setCameraProperty(property="ISO", value=str(low_iso))
                else:
                    print("low_iso 等于auto就不设置")
            socket, context = self.__create_req()
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "EnableLiveview"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            req["Enable"] = enable_status
            json_msg = self.__send_tcp_message(socket, req)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                self.perview_state = False
                msg_send = "预览启用失败"
                # self.sendSocketMessage(
                #     code=0,
                #     msg=msg_send,
                #     device_status=2,
                # )
                return False, "预览启用失败"
            msg_send = "预览启用成功" if enable_status else "预览关闭成功"
            message = {
                "code": 0,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": 2,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return True, "预览启用成功" if enable_status else "预览关闭成功"
        except zmq.Again:
            print("启动预览超时，继续监听...")
        except:
            self.perview_state = False
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return False, "相机未连接或软件未打开"

    async def CameraAutofocus(self):
        """
        相机自动对焦
        """
        camera_states, _ = await self.GetCameraInfo(is_send=False)
        print("CameraAutofocus 执行对焦")
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "Autofocus"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            json_msg = self.__send_tcp_message(socket, req)
            print("json_msg", json_msg)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                msg_send = "对焦失败"
                message = {
                    "code": 1,
                    "msg": msg_send,
                    "data": None,
                    "msg_type": "smart_shooter_photo_take",
                    "device_status": -1,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
                return False, "对焦失败"
            return True, "对焦成功"
        except zmq.Again:
            print("对焦超时，继续监听...")
        except:
            socket.close()
            context.term()
            return False, "相机未连接或软件未打开"

    async def CameraShooter(self, msg_type="", goods_art_no="", id=0, is_af=False,delay=1.5):
        # 这里延迟一秒钟 等待前置命令完成
        await asyncio.sleep(delay)
        # 对焦混用
        if is_af:
            await self.CameraAutofocus()
        self.msg_type = msg_type
        print("camera_states", msg_type)
        """
        执行拍照
        """
        camera_states, _ = await self.GetCameraInfo(is_send=True)
        print("camera_states CameraShooter", camera_states)
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            low_iso,high_iso = await self.getConfigIso()
            print("LOW_ISO", low_iso)
            print("HIGH_ISO", high_iso)
            if str(low_iso).lower() != "auto":
                    await self.setCameraProperty(property="ISO", value=str(low_iso))
            else:
                    print("low_iso 等于auto就不设置")
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "Shoot"
            req["msg_seq_num"] = 1
            req["CameraSelection"] = "All"
            if goods_art_no != "" and id != 0:
                # 此处用逗号分割，货号和id，需要在监听部分进行切割保存处理，如果使用下划线或者减号，可能货号中存在对应符号
                req["PhotoOrigin"] = f"{goods_art_no},{id}"
            else:
                req["PhotoOrigin"] = ""
            json_msg = self.__send_tcp_message(socket, req)
            print("CameraShooter", json_msg)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                msg_send = "拍照失败"
                message = {
                    "code": 1,
                    "msg": msg_send,
                    "data": None,
                    "msg_type": self.msg_type,
                    "device_status": -1,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
                return False, msg_send
            msg_send = "拍照成功"
            message = {
                "code": 0,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": 2,
            }
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return True, "拍照成功"
        except zmq.Again:
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": {goods_art_no: goods_art_no, "id": id},
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return True, "拍照失败"
        except:
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return False, msg_send
    async def asyncMessageListen(self):
        if self.websocket.client_state.name != "CONNECTED":
            print("WebSocket连接已断开，停止发送消息")
            return
        try:
            # 使用非阻塞方式检查队列中是否有项目
            if not message_queue.empty():
                message = message_queue.get_nowait()
                print("发送消息中。。。。。", message)
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
                message_queue.task_done()
        except Exception as e:
            # 处理可能的异常，如队列为空等
            pass

    def connect_listen(self):
        print("smart shooter connect_listen", self.connect_status, self.listen_init)
        if self.connect_status == True or self.listen_init == True:
            return True
        # 发起监听
        sub_socket, context = self.__create_listen()
        print("构建监听", self.connect_status)
        logger.info("构建监听,%s", self.connect_status)
        try:
            # 尝试获取当前线程的事件循环
            try:
                self.listen_loop = asyncio.get_running_loop()
            except RuntimeError:
                self.listen_loop = asyncio.new_event_loop()
        except RuntimeError:
            # 如果当前线程没有事件循环，则创建一个新的
            self.listen_loop = asyncio.new_event_loop()
            asyncio.set_event_loop(self.listen_loop)
        while True:
            self.listen_init = True
            if self.callback_listen == None:
                continue
            try:
                # 创建任务并立即运行，设置超时以避免阻塞
                # future = asyncio.ensure_future(self.asyncMessageListen())
                # 运行任务，但设置超时以避免无限等待
                # 使用一致的事件循环运行异步任务
                # asyncio.run(self.asyncMessageListen())
                # 运行任务，但设置超时以避免无限等待
                self.listen_loop.run_until_complete(self.asyncMessageListen())
            except asyncio.TimeoutError:
                # 超时是正常的，表示没有消息需要处理
                pass
            except Exception as e:
                # 处理其他可能的异常
                print(f"Error handling async message-asyncMessageListen: {e}")
            # camera_states, camera_msg = await self.GetCameraInfo(is_send=False)
            # if not camera_states:
            #     print("相机未连接回调打印", camera_states, camera_msg)
            #     await asyncio.sleep(0.01)  # 等待相机连接
            #     continue
            if self.stop_listen:
                break
            try:
                self.connect_status = True
                raw = sub_socket.recv()
                str_msg = raw.decode("utf-8")
                json_msg = json.loads(str_msg)
                if json_msg["msg_id"] == "NetworkPing":
                    continue
                # self.callback_listen(json_msg)
                asyncio.run(self.callback_listen(json_msg))
            except zmq.Again:
                print("接收超时，继续监听...")
                logger.info("接收超时，继续监听...")
                continue
            except Exception as e:
                self.connect_status = False
                print(f"发生错误: {e}")
                break
        self.listen_init = False
        self.connect_status = False
        self.stop_listen = False
        sub_socket.close()
        context.term()
        print("smart shooter连接断开")