CameraMachine/python/mcu/DeviceControl.py

import asyncio
import datetime
from cv2 import log
import serial.tools.list_ports
import time, json
from .SerialIns import SerialIns
from utils.SingletonType import SingletonType
from .BaseClass import BaseClass
from sockets import ConnectionManager
from collections import defaultdict
import threading
import settings
from .ProgramItem import ProgramItem
from .capture.module_digicam import DigiCam
from databases import insert_photo_records
from .McuDeviationSet import McuDeviationSet
from .OtherSet import OtherSet
from .DebugUart import DebugUart
from .LineControl import LineControl
import copy
import logging
from mcu.capture.smart_shooter_class import SmartShooter
import logging
logger = logging.getLogger(__name__)


# mcu命令
class DeviceControl(BaseClass, metaclass=SingletonType):
    lock = threading.Lock()

    def __init__(
        self, websocket_manager: ConnectionManager, smart_shooter: SmartShooter = None
    ):
        super().__init__(
            websocket_manager=websocket_manager, smart_shooter=smart_shooter
        )
        self.msg_type = "mcu"
        self.mcu_deviation_set = McuDeviationSet(self)
        self.mcu_other_set = OtherSet(self)
        self.debug_uart = DebugUart(self)
        self.line_control = LineControl(websocket_manager)
        self.m_t = 1
        # 0未开始  1进行中 2已结束  99异常
        self.action_state = 2
        self._mcu_move_state = 0
        self.state_camera_motor = 3
        self.state_camera_steering = 3
        self.state_turntable_steering = 3
        self.state_overturn_steering = 3
        self.seed = 0
        self.last_camera_height = 0
        # 是否实时获取mcu状态信息
        self.is_get_mcu_state = True
        self.state_move_turntable_steering = 3
        self.last_from_mcu_move_respond_data = None
        self.camera_motor_speed = 0
        self.camera_motor_value = 0
        self.init_state = False
        self.port_name = ""
        self.mcu_exit = False
        self.t_n = 0
        self.serial_ins = None
        self.connected_ports_dict = {}  # 已连接的ports
        self.p_list = []
        self.temp_ports_dict = {}
        self.is_running = False
        self.is_runn_action = False
        self.is_stop_action = False
        self.connect_state = False
        self.is_init_while = False
        self.device_name_dict = {
            "camera_steering": 0,
            "camera_high_motor": 1,
            "turntable_steering": 2,
            "overturn_steering": 3,
            "laser_position": 4,
            "buzzer": 5,
            "split": 6,
            "turntable_position_motor": 7,
            "mp3_player": 8,
            "mcu": 99,
        }
        self.last_move_time = time.time()
        self.device_name_dict_mapping = {
            0:"相机角度",
            1:"相机高度",
            2:"转盘角度",
            3:"翻板角度",
            4:"激光灯位置",
            5:"蜂鸣器",
            6:"split",
            7:"转盘位置",
            8:"播放音频",
            99:"mcu命令",
        }
        # 最近的mcu基础信息，用于获取数据状态检查
        self.last_mcu_info_data = {
            "num": 0,
            "time": time.time(),
            "data": None,
        }
        # 最近的mcu的其他配置
        self.last_mcu_other_info_data = {
            "num": 0,
            "time": time.time(),
            "data": {},
        }

        self.command = {
            "to_device_move": 1,  # 设备运动
            "to_init_device": 2,  # 初始化设备
            "to_deal_other_device": 3,  # 处理其他设备
            "get_all_info": 29,  # 获取所有信息
            "set_deviation": 40,  # 设置偏移量
            "get_deviation": 41,  # 读取偏移量
            "signal_forwarding": 91,  # 信号转发处理
            "signal_forwarding_return": 92,  # 信号转发返回
            "get_other_info": 44,  # 获取其他信息
            "open_rgb_led": 43,  ## RGB灯的处理与通讯
            "set_other_info": 45,  # 设置其他信息
            "query_remote_control_battery": 47,  # 查询遥控器电量
            "set_turntable_mode": 48,  # 设置转盘通讯方式 1、串口、2、无线、3 混合
            "stop_mcu": 93,  # 停止运行mcu
        }
        # self.window = window
        self.last_push_time = defaultdict(float)
        self.is_running = False
        self.is_wait_connect = False  # 等待链接
        self.send_data_queue = []  # 发送队列
        # self.lock = Lock()
        # 是否是刚进行完初始化;首次初始化，需要运动到指定第一个指定位置
        self.is_just_init_time = False
        # self.init()

        # ===========注册命令函数============
        self.deal_code_func_dict = {
            29: self.get_from_mcu_base_info,  # 获取基本情况
            32: self.get_from_mcu_button,  # 获取按键信息
            42: self.get_from_mcu_deviation_info,  # 获取偏移量信息
            44: self.get_from_mcu_other_info,  # 获取其他配置参数
            90: self.get_from_mcu_connect_info,  # 获取链接电脑信号
            92: self.get_from_mcu_move_respond_data,  # 获取MCU响应
            100: self.print_mcu_error_data,  # 打印下位机的错误内容
            255: self.print_mcu_noraml_data,  # 打印回执
        }

    async def sendCommand(self, command):
        await asyncio.sleep(0.01)
        loop = asyncio.get_event_loop()
        loop.create_task(self.debug_uart.set(command), name="sendCommand2")

    async def getMcuOtherInfo(self):
        await asyncio.sleep(0.01)
        self.get_other_info()

    async def setMcuOtherInfo(self, data):
        await asyncio.sleep(0.01)
        for k, v in data.items():
            print("k:{},v:{}".format(k, v))
            logger.info("k:{},v:{}".format(k, v))
            data[k] = self.setOtherMaxMinValue(k, v)
        self.set_to_mcu_other_info(data)
        self.msg_type = "set_other_mcu_info"
        self.sendSocketMessage(
            code=0,
            msg="设置mcu其他配置信息完成",
            device_status=2,
        )
        self.msg_type = "mcu"

    def setOtherMaxMinValue(self, item, value):
        value = int(value)
        parameter_limits = {
            "is_auto_send_base_info": (0, 10000),
            "is_move_retry": (0, 10000),
            "is_data_response": (0, 10000),
            "low_speed": (0, 10000),  # 假设低速范围是0到1000
            "is_test": (0, 10000),
            "to_init_mode": (0, 10000),
            "turntable_move_to_init_mode": (0, 10000),  # 假设转盘通讯方式范围是0到3
            "led_count": (0, 10000),  # 假设LED数量范围是0到10
            "turntable_steering_angle_ratio": (0, 10000),  # 假设角度比例范围是0到100
            "is_manual_check": (0, 10000),
            "camera_steering_angle_ratio": (0, 100000),  # 假设角度比例范围是0到100
            "is_auto_motor_to_disable": (0, 10000),
            "diff_dir": (0, 10000),
            "is_auto_send_pos_info": (0, 10000),
            "is_dog": (0, 10000),
            "has_been_set_motor_config": (0, 10000),
        }

        # 获取参数的最小值和最大值
        min_value, max_value = parameter_limits.get(item, (0, 10000))
        value = max(min_value, min(max_value, value))
        return value

    async def initDevice(self, is_force=False):
        if not self.is_running:
            self.sendSocketMessage(
                code=1, msg="mcu设备未连接,请先连接设备", device_status=0
            )
            return False
        if self.init_state == True:
            print("已经初始化过,请勿重复初始化")
            logger.info("已经初始化过,请勿重复初始化")
            self.sendSocketMessage(msg="设备初始化完成", device_status=2)
            return False
        self.serial_ins.clearn_flush()
        self.to_init_device_origin_point(device_name="mcu", is_force=is_force)
        print("MCU 开始循环~")
        logger.info("MCU 开始循环~")
        while 1:
            await asyncio.sleep(0.05)
            if not self.serial_ins or not self.connect_state:
                break
            try:
                self.send_cmd()
                if not self.get_basic_info_mcu():
                    pass
            except BaseException as e:
                print("121231298908", e)
                logger.info("121231298908", e)
                break

        self.is_running = False
        self.connect_state = False
        print("MCU 循环退出~")
        logger.info("MCU 循环退出~")
        print("串口未连接,请检查")
        logger.info("串口未连接,请检查")
        self.sendSocketMessage(code=1, msg="MCU串口未连接,请检查", device_status=-1)
        message = {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
        self.sendSocketMessage(
            code=1, msg="MCU 连接失败", data=message, device_status=-1
        )
        self.close_connect()

    async def initControlLine(self, serial_handle):
        """实例化有线控制设备"""
        self.line_control.connect_state = True
        self.line_control.serial_ins = serial_handle
        await self.line_control.run()
        # if self.init_state == True:
        #     print("已经初始化过,请勿重复初始化")
        #     self.sendSocketMessage(msg="设备初始化完成", device_status=2)
        #     return False
        # self.serial_ins.clearn_flush()
        # self.to_init_device_origin_point(device_name="mcu", is_force=is_force)
        # print("MCU 开始循环~")
        # while 1:
        #     await asyncio.sleep(0.01)
        #     if not self.serial_ins or not self.connect_state:
        #         break
        #     try:
        #         # print("mcu   send_cmd")
        #         self.send_cmd()
        #         # time.sleep(0.01)
        #         self.get_basic_info_mcu()
        #         # self.close_other_window()
        #     except BaseException as e:
        #         print("121231298908", e)
        #         break

        # self.is_running = False
        # self.connect_state = False
        # print("MCU 循环退出~")
        # # self.sign_data.emit(
        # #     {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
        # # )
        # message = {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
        # self.sendSocketMessage(
        #     code=1, msg="MCU 连接失败", data=message, device_status=-1
        # )
        # self.close_connect()

    def stop_mcu(self):
        buf = [self.command["stop_mcu"]]
        buf.extend(self.encapsulation_data(data=1, len_data=1))
        self.add_send_data_queue(buf)

    # 设置转盘通讯方式 1、串口、2、无线、3 混合
    def to_set_turntable_mode(self, mode=1):
        buf = [self.command["set_turntable_mode"]]
        buf.extend(self.encapsulation_data(data=mode, len_data=1))
        self.add_send_data_queue(buf)

    def query_remote_control_battery(self):
        """查询遥控器电量"""
        buf = [self.command["query_remote_control_battery"]]
        buf.extend(self.encapsulation_data(data=1, len_data=1))
        buf.extend(self.encapsulation_data(data=1, len_data=1))
        buf.extend(self.encapsulation_data(data=1, len_data=1))
        self.add_send_data_queue(buf)

    def encapsulation_data(self, data, len_data, data_magnification=1):
        # data_magnification 数据放大倍数，或缩小倍数，默认为1
        data = int(data * data_magnification)
        if len_data == 1:
            return [0xFF & data]
        elif len_data == 2:
            return [0xFF & data >> 8, 0xFF & data]
        elif len_data == 4:
            return [0xFF & data >> 24, 0xFF & data >> 16, 0xFF & data >> 8, 0xFF & data]

    def open_rgb_led(
        self,
        color_name,
        led_command=1,
        brightness=80,
        enable=True,
        mode="loop",
        times=2,
        interval=0.1,
    ):
        color_name_value = {
            "红色": (156, 6, 3),
            "黄色": (255, 206, 25),
            "绿色": (0, 128, 0),
            "蓝色": (0, 25, 255),
            "白色": (255, 250, 227),
        }
        if color_name in color_name_value:
            buf = [self.command["open_rgb_led"]]
            buf.append(1 if enable else 0)
            buf.append(led_command)
            buf.extend(color_name_value[color_name])
            buf.extend(
                [
                    brightness,
                    1 if mode == "loop" else 2,
                    times,
                    int(interval * 10),
                ]
            )
            self.add_send_data_queue(buf)

    async def getDeviationInfo(self):
        await asyncio.sleep(0.01)
        try:
            # 发送获取偏移量
            data = [self.command["get_deviation"], 1]
            self.add_send_data_queue(data)
            # if self.serial_ins:
            #     self.serial_ins.write_cmd(data)
            print("发送获取偏移量")
            logger.info("发送获取偏移量")
        except Exception as e:
            print(e)
            print("getDeviationInfo", "暂未获取到self.command")
            logger.info("getDeviationInfo暂未获取到self.command")

    def set_deviation(self, device_name, _type=0, deviation=0):
        # turntable----0 angle_ratio   1 turntable_steering_deviation
        # overturn ----0 middle   1 high
        if device_name == "camera_high_motor":
            deviation = deviation / 10  # deviation 原单位为mm
        if device_name == "turntable_position_motor":
            deviation = deviation / 10  # deviation 原单位为mm
        if device_name == "camera_steering":
            pass
        if device_name == "turntable_steering":
            pass
        if device_name == "overturn_steering":
            pass

        device_id = self.device_name_dict[device_name]
        _dir = 1 if deviation >= 0 else 0
        deviation = int(abs(deviation * 10))
        data = [
            self.command["set_deviation"],
            device_id,
            _type,
            _dir,
            0xFF & deviation >> 8,
            0xFF & deviation,
        ]
        self.add_send_data_queue(data)
        # self.controlDevice(device_name, deviation)

    async def set_deviation_cmd(self, value, action_name, type):
        await asyncio.sleep(0.01)
        name_sets = [
            "相机电机",  # min 0 max 400,步长1
            "相机舵机",  # min -40 max 40,步长0.1
            "转盘舵机",  # min -720 max 720,步长1
            "转盘前后电机",  # min 0 max 950,步长1
            "翻板舵机中位",  # min 0 max 180,步长0.5
            "翻板舵机高位",  # min 0 max 180,步长0.5
            "翻板舵机上升速度",  # min 1 max 10,步长1
            "翻板舵机下降速度",  # min 1 max 10,步长1
        ]
        if action_name not in name_sets:
            self.msg_type = f"{type}_deviation"
            self.sendSocketMessage(msg="设置参数有误，请检查", device_status=0, code=1)
            self.msg_type = "mcu"
            return
        # 发送获取偏移量
        if type == "move":
            self.mcu_deviation_set.change_value(value, action_name)
        elif type == "set":
            self.mcu_deviation_set.set_deviation(action_name)
        self.msg_type = f"{type}_deviation"
        self.sendSocketMessage(msg=f"{action_name} 设置成功", device_status=2, code=0)
        self.msg_type = "mcu"

    def get_other_info(self):
        # 发送获取偏移量
        data = [self.command["get_other_info"], 1]
        self.add_send_data_queue(data)
        print("发送获取其他信息")
        logger.info("发送获取其他信息")

    def add_send_data_queue(self, data):
        self.lock.acquire()
        if self.serial_ins:
            print("send_data_queue  append  :{}".format(data))
            logger.info("send_data_queue  append  %s", data)
            self.send_data_queue.append(data)
        self.lock.release()

    async def send_all_cmd(self):
        # await asyncio.sleep(0.001)
        while True:
            await asyncio.sleep(0.1)
            if self.send_data_queue:
                # self.sendSocketMessage(msg="正在发送命令", device_status=1)
                data = self.send_data_queue.pop(0)
                # print("\033[1;32;40m 正在发送命令 \033[0m",data)
                self.serial_ins.write_cmd(data)
                # self.sendSocketMessage(msg="命令发送完成", device_status=2)
            else:
                break

    def send_cmd(self):
        self.lock.acquire()
        if self.send_data_queue:
            # self.sendSocketMessage(msg="正在发送命令", device_status=1)
            data = self.send_data_queue.pop(0)
            self.serial_ins.write_cmd(data)
            # self.sendSocketMessage(msg="命令发送完成", device_status=2)
        else:
            # self.t_n += 1
            # 加大发送获取基础数据的时间间隔
            # 默认为0.01秒一个循环，每隔1.5秒发送数据
            if self.t_n == 150:
                # self.t_n = 0
                self.send_get_all_info_to_mcu()
        self.lock.release()

    def send_get_all_info_to_mcu(self):
        if self.is_get_mcu_state is False:
            return
        data = [self.command["get_all_info"], 1]
        self.serial_ins.write_cmd(data)

    def print_mcu_error_data(self, receive_data):
        # 扫码数据
        try:
            data = receive_data[1:].decode()
            if "设备初始化完成" in data:
                self.init_state = True
                logger.info("设备初始化完成:%s", data)
                self.sendSocketMessage(msg=data, device_status=2)
            else:
                print("设备异常数据打印:", data)
                logger.info("115  设备异常数据打印:%s", data)
        except BaseException as e:
            print("117 error {}".format(e))
            logger.info("117 error %s", e)
        return
    def print_mcu_noraml_data(self, receive_data):
        # 扫码数据
        print("接收到255数据:", receive_data)
        try:
            command_mapping = {
                1:"设备运动",
                2:"初始化设备",  # 初始化设备
                3:"处理其他设备",  # 处理其他设备
                29:"获取所有信息",  # 获取所有信息
                40:"设置偏移量",  # 设置偏移量
                41:"读取偏移量",  # 读取偏移量
                91:"信号转发处理",  # 信号转发处理
                92:"信号转发返回",  # 信号转发返回
                44:"获取其他信息",  # 获取其他信息
                43:"RGB灯的处理与通讯",  ## RGB灯的处理与通讯
                45:"设置其他信息",  # 设置其他信息
                47:"查询遥控器电量",  # 查询遥控器电量
                48:"设置转盘通讯方式 1、串口、2、无线、3 混合",  # 
                93:"停止运行mcu",  # 停止运行mcu
                90:"连接MCU",# 连接MCU
            }
            # command = int(receive_data[0])
            command = int(receive_data[1])
            command_text = command_mapping[command]
            # receive_data_temp = receive_data[2:]
            receive_data_temp_text = " ".join([hex(x) for x in receive_data])
            # print("255  command_text:", command_text)
            if command_text in ["设备运动","处理其他设备"]:
                device_id = int(receive_data[2])
                device_value = int(receive_data[3])
                device_name_info = self.device_name_dict_mapping[device_id]
                message_info = {"设备名称":device_name_info,"运动值":device_value}
                print("【设备运动】消息回执:", message_info)
                logger.info("设备运动消息回执:%s", message_info)
            print("接收设备消息回执:", command_text)
            logger.info("接收设备消息回执:%s", receive_data_temp_text)
        except BaseException as e:
            print("255 error {}".format(e))
            logger.info("255 error %s", e)
        return
    def get_from_mcu_move_respond_data(self, receive_data):
        self.last_from_mcu_move_respond_data = receive_data

    def get_from_mcu_connect_info(self, receive_data):
        connect_flag = receive_data[1]
        device_id = receive_data[2]
        try:
            mcu_has_been_set = receive_data[6]  # 设备是否有初始化 ，1 表示已初始化
        except:
            mcu_has_been_set = 99  # 未知状态

        # self.self_sign.emit({"type": "connect_sign", "data": connect_flag})
        message = {"type": "connect_sign", "data": connect_flag}
        self.sendSocketMessage(msg="接收连接信息", data=message)
        print("接收链接信息")
        logger.info("接收链接信息")
        return

    def to_init_device_origin_point(self, device_name, is_force=False):
        device_id = self.device_name_dict[device_name]
        cmd = 2
        data = [cmd, device_id, 0 if is_force is False else 1]
        self.open_rgb_led(color_name="红色")

        self.add_send_data_queue(data)

        if device_name == "mcu":
            # 重置初始化标记为  从未初始化
            self.is_just_init_time = False

        return True

    # 设置其他信息
    def set_to_mcu_other_info(self, data):
        is_auto_send_base_info = data["is_auto_send_base_info"]
        is_move_retry = data["is_move_retry"]
        is_data_response = data["is_data_response"]
        low_speed = data["low_speed"]
        is_test = data["is_test"]
        to_init_mode = data["to_init_mode"]
        turntable_move_to_init_mode = data["turntable_move_to_init_mode"]
        led_count = data["led_count"]
        turntable_steering_angle_ratio = data["turntable_steering_angle_ratio"]
        is_manual_check = data["is_manual_check"]
        camera_steering_angle_ratio = data["camera_steering_angle_ratio"]
        is_auto_motor_to_disable = data["is_auto_motor_to_disable"]
        diff_dir = data["diff_dir"]
        is_auto_send_pos_info = data["is_auto_send_pos_info"]
        is_dog = data["is_dog"]
        has_been_set_motor_config = data["has_been_set_motor_config"]

        buf = [self.command["set_other_info"]]
        buf.extend(self.encapsulation_data(data=is_auto_send_base_info, len_data=1))
        buf.extend(self.encapsulation_data(data=is_move_retry, len_data=1))
        buf.extend(self.encapsulation_data(data=is_data_response, len_data=1))
        buf.extend(self.encapsulation_data(data=low_speed, len_data=2))
        buf.extend(self.encapsulation_data(data=is_test, len_data=1))
        buf.extend(self.encapsulation_data(data=to_init_mode, len_data=1))
        buf.extend(
            self.encapsulation_data(data=turntable_move_to_init_mode, len_data=1)
        )
        buf.extend(self.encapsulation_data(data=led_count, len_data=2))
        buf.extend(
            self.encapsulation_data(data=turntable_steering_angle_ratio, len_data=2)
        )
        buf.extend(self.encapsulation_data(data=is_manual_check, len_data=1))
        buf.extend(
            self.encapsulation_data(data=camera_steering_angle_ratio, len_data=4)
        )
        buf.extend(self.encapsulation_data(data=is_auto_motor_to_disable, len_data=1))
        buf.extend(self.encapsulation_data(data=diff_dir, len_data=1))
        buf.extend(self.encapsulation_data(data=is_auto_send_pos_info, len_data=1))
        buf.extend(self.encapsulation_data(data=is_dog, len_data=1))
        buf.extend(self.encapsulation_data(data=has_been_set_motor_config, len_data=1))
        self.add_send_data_queue(buf)

    async def cleanAllReceiveData(self):
        while True:
            await asyncio.sleep(0.001)
            receive_data = self.serial_ins.read_cmd(out_time=1)
            if not receive_data:
                break

    def get_basic_info_mcu(self):
        receive_data = self.serial_ins.read_cmd(out_time=1)
        if receive_data is False:
            print("------------------------------------------------4657564654")
            print(
                "------------------------------------------------get_basic_info_mcu------------------"
            )
            logger.info("------------------------------------------------4657564654")
            self.connect_state = False
            return False
        if not receive_data:
            return False
        command = receive_data[0]
        print("get_basic_info_mcu",command)
        if command in self.deal_code_func_dict:
            self.deal_code_func_dict[command](receive_data)

    def get_from_mcu_button(self, receive_data):
        button_name = receive_data[1]
        self.deal_mcu_button(button_name)

    def deal_mcu_button(self, button_name):
        # 防止重复点击
        s = time.time()
        if s - self.last_push_time[button_name] > 0.1:
            self.last_push_time[button_name] = s
            # print("button_name", button_name)
        else:
            self.last_push_time[button_name] = s
            return
        if button_name == 1:
            # 自动执行全部
            # self.sign_data.emit(
            #     {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_1"}
            # )
            message = {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_1"}
            self.sendSocketMessage(code=0, msg="", data=message)
        if button_name == 2:
            # self.sign_data.emit(
            #     {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_2"}
            # )
            message = {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_2"}
            self.sendSocketMessage(code=0, msg="", data=message)
        if button_name == 3:
            # self.sign_data.emit(
            #     {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_3"}
            # )
            message = {"_type": "mcu_button", "plugins_mode": "mcu", "data": "todo_3"}
            self.sendSocketMessage(code=0, msg="", data=message)

    # 获取偏移量信息
    def get_from_mcu_deviation_info(self, receive_data):
        if len(receive_data) == 18:
            camera_high_motor_deviation_dir = receive_data[1]
            camera_high_motor_deviation = receive_data[2] << 8 | receive_data[3]
            camera_high_motor_deviation = (
                camera_high_motor_deviation * -1
                if camera_high_motor_deviation_dir == 0
                else camera_high_motor_deviation
            )

            camera_steering_deviation_dir = receive_data[4]
            camera_steering_deviation = (receive_data[5] << 8 | receive_data[6]) * 0.1
            camera_steering_deviation = (
                camera_steering_deviation * -1
                if camera_steering_deviation_dir == 0
                else camera_steering_deviation
            )

            turntable_steering_deviation_dir = receive_data[7]
            turntable_steering_deviation = (
                receive_data[8] << 8 | receive_data[9]
            ) * 0.1
            turntable_steering_deviation = (
                turntable_steering_deviation * -1
                if turntable_steering_deviation_dir == 0
                else turntable_steering_deviation
            )

            overturn_steering_middle_dir = receive_data[10]
            overturn_steering_middle = (receive_data[11] << 8 | receive_data[12]) * 0.1
            overturn_steering_middle = (
                overturn_steering_middle * -1
                if overturn_steering_middle_dir == 0
                else overturn_steering_middle
            )

            overturn_steering_high_dir = receive_data[13]
            overturn_steering_high = (receive_data[14] << 8 | receive_data[15]) * 0.1
            overturn_steering_high = (
                overturn_steering_middle * -1
                if overturn_steering_high_dir == 0
                else overturn_steering_high
            )

            overturn_steering_up_speed = receive_data[16]
            overturn_steering_down_speed = receive_data[17]

            # self.sign_data.emit(
            #     {
            #         "_type": "get_deviation_data",
            #         "plugins_mode": "mcu",
            #         "data": {
            #             "camera_high_motor_deviation": camera_high_motor_deviation,
            #             "camera_steering_deviation": camera_steering_deviation,
            #             "turntable_steering_deviation": turntable_steering_deviation,
            #             "overturn_steering_middle": overturn_steering_middle,
            #             "overturn_steering_high": overturn_steering_high,
            #             "overturn_steering_up_speed": overturn_steering_up_speed,
            #             "overturn_steering_down_speed": overturn_steering_down_speed,
            #         },
            #     }
            # )
            # message = {
            #     "_type": "get_deviation_data",
            #     "plugins_mode": "mcu",
            #     "data": {
            #         "camera_high_motor_deviation": camera_high_motor_deviation,
            #         "camera_steering_deviation": camera_steering_deviation,
            #         "turntable_steering_deviation": turntable_steering_deviation,
            #         "overturn_steering_middle": overturn_steering_middle,
            #         "overturn_steering_high": overturn_steering_high,
            #         "overturn_steering_up_speed": overturn_steering_up_speed,
            #         "overturn_steering_down_speed": overturn_steering_down_speed,
            #     },
            # }
            get_deviation_data = {
                "camera_high_motor_deviation": camera_high_motor_deviation,
                "camera_steering_deviation": camera_steering_deviation,
                "turntable_steering_deviation": turntable_steering_deviation,
                "turntable_front_end_deviation": 300,
                "overturn_steering_middle": overturn_steering_middle,
                "overturn_steering_high": overturn_steering_high,
                "overturn_steering_up_speed": overturn_steering_up_speed,
                "overturn_steering_down_speed": overturn_steering_down_speed,
            }
            self.initDeviationInfo(get_deviation_data)
            self.msg_type = "get_deviation_data"
            self.sendSocketMessage(msg="接收偏移量信息", data=get_deviation_data)
            self.msg_type = "mcu"
            print("接收偏移量信息")
            logger.info("接收偏移量信息")
        return

    def initDeviationInfo(self, get_deviation_data):
        # 初始化偏移量信息
        camera_high_motor_deviation = get_deviation_data["camera_high_motor_deviation"]
        camera_steering_deviation = get_deviation_data["camera_steering_deviation"]
        turntable_steering_deviation = get_deviation_data[
            "turntable_steering_deviation"
        ]
        overturn_steering_middle = get_deviation_data["overturn_steering_middle"]
        overturn_steering_high = get_deviation_data["overturn_steering_high"]
        overturn_steering_up_speed = get_deviation_data["overturn_steering_up_speed"]
        overturn_steering_down_speed = get_deviation_data[
            "overturn_steering_down_speed"
        ]
        self.mcu_deviation_set.last_value["相机电机"] = camera_high_motor_deviation
        self.mcu_deviation_set.last_value["相机舵机"] = camera_steering_deviation
        self.mcu_deviation_set.last_value["转盘舵机"] = turntable_steering_deviation
        self.mcu_deviation_set.last_value["翻板舵机中位"] = overturn_steering_middle
        self.mcu_deviation_set.last_value["翻板舵机高位"] = overturn_steering_high
        self.mcu_deviation_set.last_value["翻板舵机上升速度"] = (
            overturn_steering_up_speed
        )
        self.mcu_deviation_set.last_value["翻板舵机下降速度"] = (
            overturn_steering_down_speed
        )

    # 获取其他信息
    def get_from_mcu_other_info(self, receive_data):
        # TODO  已完成设置
        is_auto_send_base_info = self.get_data_from_receive_data(
            receive_data=receive_data, start=1, len_data=1
        )
        is_move_retry = self.get_data_from_receive_data(
            receive_data=receive_data, start=2, len_data=1
        )
        is_data_response = self.get_data_from_receive_data(
            receive_data=receive_data, start=3, len_data=1
        )
        low_speed = self.get_data_from_receive_data(
            receive_data=receive_data, start=4, len_data=2
        )
        is_test = self.get_data_from_receive_data(
            receive_data=receive_data, start=6, len_data=1
        )
        to_init_mode = self.get_data_from_receive_data(
            receive_data=receive_data, start=7, len_data=1
        )
        turntable_move_to_init_mode = self.get_data_from_receive_data(
            receive_data=receive_data, start=8, len_data=1
        )
        led_count = self.get_data_from_receive_data(
            receive_data=receive_data, start=9, len_data=2
        )
        turntable_steering_angle_ratio = self.get_data_from_receive_data(
            receive_data=receive_data, start=11, len_data=2
        )
        is_manual_check = self.get_data_from_receive_data(
            receive_data=receive_data, start=13, len_data=1
        )
        camera_steering_angle_ratio = self.get_data_from_receive_data(
            receive_data=receive_data, start=14, len_data=4
        )
        is_auto_motor_to_disable = self.get_data_from_receive_data(
            receive_data=receive_data, start=18, len_data=1
        )
        diff_dir = self.get_data_from_receive_data(
            receive_data=receive_data, start=19, len_data=1
        )
        is_auto_send_pos_info = self.get_data_from_receive_data(
            receive_data=receive_data, start=20, len_data=1
        )
        is_dog = self.get_data_from_receive_data(
            receive_data=receive_data, start=21, len_data=1
        )
        has_been_set_motor_config = self.get_data_from_receive_data(
            receive_data=receive_data, start=22, len_data=1
        )

        self.last_mcu_other_info_data["data"] = {
            "is_auto_send_base_info": is_auto_send_base_info,
            "is_move_retry": is_move_retry,
            "is_data_response": is_data_response,
            "low_speed": low_speed,
            "is_test": is_test,
            "to_init_mode": to_init_mode,
            "turntable_move_to_init_mode": turntable_move_to_init_mode,
            "led_count": led_count,
            "turntable_steering_angle_ratio": turntable_steering_angle_ratio,
            "is_manual_check": is_manual_check,
            "camera_steering_angle_ratio": camera_steering_angle_ratio,
            "is_auto_motor_to_disable": is_auto_motor_to_disable,
            "diff_dir": diff_dir,
            "is_auto_send_pos_info": is_auto_send_pos_info,
            "is_dog": is_dog,
            "has_been_set_motor_config": has_been_set_motor_config,
        }
        self.last_mcu_other_info_data["time"] = time.time()
        self.last_mcu_other_info_data["num"] += 1
        for k, v in self.last_mcu_other_info_data["data"].items():
            print("k:{},v:{}".format(k, v))
            logger.info("k:%s,v:%s", k, v)
        self.msg_type = "get_mcu_other_info"
        self.sendSocketMessage(
            code=0,
            msg="获取mcu其他配置信息",
            device_status=2,
            data=self.last_mcu_other_info_data["data"],
        )
        self.msg_type = "mcu"

    def get_data_from_receive_data(
        self, receive_data, start, len_data, data_magnification=1
    ):
        # data_magnification 数据放大倍数，或缩小倍数，默认为1
        try:
            if len_data == 1:
                data = receive_data[start]
                return data * data_magnification
            elif len_data == 2:
                data = receive_data[start] << 8 | receive_data[start + 1]
                return data * data_magnification
            elif len_data == 4:
                data = (
                    receive_data[start] << 24
                    | receive_data[start + 1] << 16
                    | receive_data[start + 2] << 8
                    | receive_data[start + 3]
                )
                return data * data_magnification
            return None
        except:
            return None

    def get_from_mcu_base_info(self, receive_data):
        # 数据缓存
        self.last_mcu_info_data["time"] = time.time()
        self.last_mcu_info_data["num"] += 1
        # print("last_mcu_info_data:{}".format(self.last_mcu_info_data["time"]))

        self.state_camera_motor = 3
        self.state_camera_steering = 3
        self.state_turntable_steering = 3
        self.state_overturn_steering = 3
        self.state_move_turntable_steering = 3
        if len(receive_data) == 7:
            self.m_t = 1
            laser_state = receive_data[1]
            self.state_camera_motor = receive_data[2]
            self.state_camera_steering = receive_data[3]
            self.state_turntable_steering = receive_data[4]
            self.state_overturn_steering = receive_data[5]
            flag = receive_data[6]
            message = {
                "_type": "show_mcu_info",
                "plugins_mode": "mcu",
                "data": "激光状态；{laser_state}，相机高度状态:{state_camera_motor},相机角度状态：{state_camera_steering},转盘状态：{state_turntable_steering}，翻板状态：{state_overturn_steering},flag:{flag}".format(
                    laser_state=laser_state,
                    state_camera_motor=self.state_camera_motor,
                    state_camera_steering=self.state_camera_steering,
                    state_turntable_steering=self.state_turntable_steering,
                    state_overturn_steering=self.state_overturn_steering,
                    flag=flag,
                ),
                "data_state": {
                    "state_camera_motor": self.state_camera_motor,
                    "state_camera_steering": self.state_camera_steering,
                    "state_turntable_steering": self.state_turntable_steering,
                    "state_overturn_steering": self.state_overturn_steering,
                },
            }
            self.msg_type = "get_mcu_info"
            self.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
            self.msg_type = "mcu"
            # print("转盘：{}，时间：{}".format(self.state_turntable_steering, time.time()))

        if len(receive_data) == 8:
            self.m_t = 2
            laser_state = receive_data[1]
            self.state_camera_motor = receive_data[2]
            self.state_camera_steering = receive_data[3]
            self.state_turntable_steering = receive_data[4]
            self.state_overturn_steering = receive_data[5]
            self.state_move_turntable_steering = receive_data[6]
            flag = receive_data[7]
            message = {
                "_type": "show_mcu_info",
                "plugins_mode": "mcu",
                "data": "激光状态；{laser_state}，相机高度状态:{state_camera_motor},相机角度状态：{state_camera_steering},转盘状态：{state_turntable_steering}，转盘前后移动状态：{state_move_turntable_steering}，翻板状态：{state_overturn_steering},flag:{flag}".format(
                    laser_state=laser_state,
                    state_camera_motor=self.state_camera_motor,
                    state_camera_steering=self.state_camera_steering,
                    state_turntable_steering=self.state_turntable_steering,
                    state_overturn_steering=self.state_overturn_steering,
                    state_move_turntable_steering=self.state_move_turntable_steering,
                    flag=flag,
                ),
                "data_state": {
                    "state_camera_motor": self.state_camera_motor,
                    "state_camera_steering": self.state_camera_steering,
                    "state_turntable_steering": self.state_turntable_steering,
                    "state_overturn_steering": self.state_overturn_steering,
                    "state_move_turntable_steering": self.state_move_turntable_steering,
                },
            }
            # if self.state_camera_motor
            if all(
                value == 2
                for value in [
                    self.state_camera_motor,
                    self.state_camera_steering,
                    self.state_turntable_steering,
                    self.state_overturn_steering,
                ]
            ):
                self.init_state = True
                self.sendSocketMessage(msg="设备初始化完成", device_status=2)
            self.msg_type = "get_mcu_info"
            self.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
            self.msg_type = "mcu"
        # 检查是否成功初始化
        if self.is_just_init_time is False:
            if self.mcu_move_state == 2:
                self.is_just_init_time = True
                print("is_just_init_time")
                logger.info("设备初始化完成")
                message = {
                    "_type": "is_just_init_time",
                    "plugins_mode": "mcu",
                    "data": "",
                }
                self.sendSocketMessage(msg="检查设备初始化", data=message)
        return

    def scan_serial_port(self) -> dict:
        # 获取所有可用串口列表
        ports_dict = {}
        ports = serial.tools.list_ports.comports()
        # 遍历所有端口并打印信息
        for port in ports:
            # logger.info("扫描到的串口信息：{}".format(port.description))
            if "CH34" in port.description:
                ports_dict[port.name] = {
                    "name": port.name,
                    "device": port.device,
                    "description": port.description,
                    "hwid": port.hwid,
                    "manufacturer": port.manufacturer,
                    "product": port.product,
                    "serial_number": port.serial_number,
                }
        if len(ports_dict) <= 0:
            return {}
        return ports_dict

    def remove_port(self, port_name):
        """移除串口"""
        print("remove", port_name)
        logger.info("串口被移除")
        data = {
            "_type": "remove_port",
            "plugins_mode": "auto_select_com",
            "data": {"port_name": port_name},
        }
        self.sendSocketMessage(1, "串口被移除", data)

    def is_serial_available(self, port):
        try:
            ser = serial.Serial(port)
            ser.close()
            return True
        except serial.serialException:
            return False

    async def add_port_by_linkage(self, port_name):
        # port_value :串口基础信息
        # todo 根据prot_value 信息自动进行连接
        print("add port_name", port_name)
        logger.info("add port_name %s", port_name)
        print("self.port_name", self.port_name)
        logger.info("self.port_name %s", self.port_name)
        if self.port_name == port_name:
            self.port_name = ""
            # 对没有连接的设备进行尝试连接
            # 如果存在串口被占用则进行断开
            self.is_serial_available(port_name)
            return False
        message_data = {
            "_type": "show_info",
            "plugins_mode": "auto_select_com",
            "data": {"text": "开始识别接口：{}".format(port_name)},
        }
        self.sendSocketMessage(
            msg="开始识别接口：{}".format(port_name), data=message_data, device_status=1
        )
        await asyncio.sleep(1)
        """
        步骤：
        1、进行临时连接，并发送命令，成功后，自动连接对应设备
        """
        try:
            # 尝试使用115200波特率链接
            serial_handle = serial.Serial(port=port_name, baudrate=115200, timeout=0.5)
        except Exception as e:
            message_data = {
                "_type": "show_info",
                "plugins_mode": "auto_select_com",
                "data": {"text": "串口：{} 被占用,或无法识别".format(port_name)},
            }
            self.sendSocketMessage(
                1,
                msg="串口：{} 被占用,或无法识别".format(port_name).format(port_name),
                data=message_data,
                device_status=-1,
            )
            print("串口：{} 被占用".format(port_name))
            logger.info("串口：%s 被占用", port_name)
            if self.serial_ins.serial_handle is not None:
                self.serial_ins.serial_handle.close()
            return False

        await asyncio.sleep(2)
        print("开始发送命令")
        logger.info("开始发送命令")
        data = [90, 1]
        try:
            serial_handle.flushInput()  # 尝试重置输入缓冲区
        except serial.SerialTimeoutException:
            print("超时错误：无法在规定时间内重置输入缓冲区。")
            logger.info("超时错误：无法在规定时间内重置输入缓冲区。")
            self.sendSocketMessage(
                1,
                msg="超时错误：无法在规定时间内重置输入缓冲区。",
                data=None,
            )
            serial_handle.close()
            return False
        print("尝试写入数据")
        logger.info("尝试写入数据")
        buf = bytearray(b"")
        buf.extend([0x55, 0x55, (0xFF & len(data))])
        buf.extend(data)
        buf.extend([0xFF & ~sum(data)])
        try:
            self.receive_data = b""
            serial_handle.write(buf)
        except serial.SerialTimeoutException:
            print("写入数据错误")
            logger.info("写入数据错误")
            serial_handle.close()
            return False

        await asyncio.sleep(0.3)
        receive_data = self.read_cmd(serial_handle)
        # print("尝试接收命令", receive_data)
        # logger.info("尝试接收命令,%s", receive_data)
        device_id = 0

        if receive_data:
            print("receive_data", receive_data)
            logger.info("receive_data %s", receive_data)
            if receive_data[0] == 90:
                connect_flag = receive_data[1]
                device_id = receive_data[2]
        else:
            logger.info("串口数据未监听到，继续等待...%s", port_name)
            return False
        print("关闭串口：{}".format(port_name))
        logger.info("关闭串口：%s", port_name)
        serial_handle.close()
        loop = asyncio.get_event_loop()
        print("device_id============>>>", device_id)
        logger.info("device_id============>>>%s", device_id)
        if device_id > 0:
            if device_id == settings.MCU_CODE:
                state, _ = self.to_connect_com(port_name)
                if not state:
                    return False
                message_data = {
                    "_type": "show_info",
                    "plugins_mode": "auto_select_com",
                    "data": {"text": "MCU开始连接"},
                }
                self.sendSocketMessage(
                    msg="MCU开始连接", data=message_data, device_status=1
                )
                self.connected_ports_dict[port_name] = "MCU"
                message_data = {
                    "_type": "select_port_name",
                    "plugins_mode": "auto_select_com",
                    "data": {
                        "device_name": "mcu" if device_id == 1 else "remote_control",
                        "port_name": port_name,
                    },
                }
                return True
            elif device_id == 2:
                # 有线接收器
                self.connected_ports_dict[port_name] = "Line_Control"
                # print("device_id", device_id)
                # logger.info("device_id %s", device_id)
                state = await self.line_control.to_connect_com(port_name)
                if not state:
                    return False
                self.line_control.connect_state = True
                return True

        else:
            print("串口无法识别")
            logger.info("串口无法识别")
            self.sendSocketMessage(
                code=1,
                msg="串口无法识别,请重新插拔拍照机USB",
                data=message_data,
                device_status=-1,
            )
            return False
            # 走其他途径处理

    def clearMyInstance(self):
        SingletonType.clear_instance()

    def to_connect_com(self, port_name):
        # 关闭串口
        print("to_connect_com", port_name)
        logger.info("to_connect_com %s", port_name)
        self.close_connect()
        time.sleep(0.3)
        self.connect_state = False
        try:
            self.serial_ins = SerialIns(port_name=port_name, baud=115200, timeout=0.1)
            if not self.serial_ins.serial_handle:
                message_data = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 打开串口失败",
                }
                self.sendSocketMessage(
                    msg="MCU 打开串口失败", data=message_data, device_status=-1
                )
                self.serial_ins = None
                self.connect_state = False
                return False, None

        except:
            message_data = {
                "_type": "show_info",
                "plugins_mode": "mcu",
                "data": "MCU 打开串口失败",
            }
            self.sendSocketMessage(
                msg="MCU 打开串口失败", data=message_data, device_status=-1
            )
            self.serial_ins = None
            self.connect_state = False
            return False, None

        message_data = {
            "_type": "show_info",
            "plugins_mode": "mcu",
            "data": "MCU 开始连接",
        }
        self.sendSocketMessage(msg="MCU 开始连接", data=message_data, device_status=1)
        # =======================发送连接请求=================================
        cmd = 90
        data = [cmd, 1]
        print("405  发送 连接请求  -----------------------------------------")
        logger.info("405  发送 连接请求  -----------------------------------------")
        print(self.serial_ins)
        logger.info(self.serial_ins)
        # self.serial_ins.clearn_flush()
        self.serial_ins.write_cmd(data)

        # 延迟接收数据
        time.sleep(0.3)
        receive_data = self.serial_ins.read_cmd(out_time=1)
        if receive_data:
            print(
                "409  receive_data--90:{}".format(self.change_hex_to_int(receive_data))
            )
            logger.info(
                "409  receive_data--90:%s", str(self.change_hex_to_int(receive_data))
            )
        else:
            return False, None
        if receive_data:
            # receive_data[2]=1 表示为MCU设备编号
            if receive_data[0] == 90 and receive_data[2] == settings.MCU_CODE:
                connect_flag = receive_data[1]
                # 是否有初始化
                try:
                    mcu_has_been_set = receive_data[
                        6
                    ]  # 设备是否有初始化 ，1 表示已初始化
                except:
                    mcu_has_been_set = 99  # 未知状态
                print("MCU初始化信息{}".format(mcu_has_been_set))
                logger.info("MCU初始化信息%s", str(mcu_has_been_set))
                message_data = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 已连接",
                }
                self.sendSocketMessage(
                    msg="MCU 已连接", data=message_data, device_status=1
                )
                self.connect_state = True
                self.is_running = True
                print("MCU 已连接")
                logger.info("MCU 已连接")
                self.port_name = port_name
                # time.sleep(2)
                loop = asyncio.get_event_loop()
                # # 异步处理
                loop.create_task(self.initDevice(), name="initDevice")
                return True, None
        print("MCU 连接失败")
        logger.info("MCU 连接失败")
        # for port in self.p_list:
        #     logger.info(
        #         "MCU 连接失败处理list移除操作,self port name %s,p_list:%s",
        #         port_name,
        #         self.p_list,
        #     )
        #     if port == port_name:
        #         logger.info("MCU 连接失败处理list移除操作,移除 %s", port_name)
        #         self.p_list.remove(port)
        #         self.remove_port(port)
        message_data = {
            "_type": "show_info",
            "plugins_mode": "mcu",
            "data": "MCU 连接失败",
        }
        self.sendSocketMessage(msg="MCU 连接失败", data=message_data, device_status=-1)
        self.close_connect()
        return False, None

    def close_connect(self):
        self.port_name = ""
        if self.serial_ins:
            self.serial_ins.close_serial_port()
            self.is_running = False
            self.connect_state = False
            self.connected_ports_dict = {}  # 已连接的ports
            # self.p_list = []
            # self.temp_ports_dict = {}
            self.init_state = False
            print("关闭MCU")
            logger.info("关闭MCU")

    def close_lineConnect(self):
        """'关闭有线遥控器连接"""
        self.line_control.port_name = ""
        self.line_control.close_connect()
        print("关闭有线遥控器")
        logger.info("关闭有线遥控器")

    @property
    def mcu_move_state(self):
        if self.is_get_mcu_state is False:
            self._mcu_move_state = 2
            # self.action_state = 2
        else:
            if self.m_t == 1:
                if (
                    self.state_camera_motor == 2
                    and self.state_camera_steering == 2
                    and self.state_turntable_steering == 2
                    and self.state_overturn_steering == 2
                ):
                    self._mcu_move_state = 2
                else:
                    self._mcu_move_state = 1
            else:
                if (
                    self.state_camera_motor == 2
                    and self.state_camera_steering == 2
                    and self.state_turntable_steering == 2
                    and self.state_overturn_steering == 2
                    and self.state_move_turntable_steering == 2
                ):
                    self._mcu_move_state = 2
                else:
                    self._mcu_move_state = 1

        # self._mcu_move_state = 2
        return self._mcu_move_state

    def to_deal_device(self, device_name, value=1, _type=0, times=1, delay=0):
        """
        value 激光0关 1开
        mp3_player  value 表示0表示关，1表示开，_type 表示歌曲切换到指定歌曲
        delay:延迟处理，单位为0.1秒，即delay=100时，表示延迟10秒
        """
        device_id = self.device_name_dict[device_name]
        if device_name == "buzzer":
            value = int(value)

        cmd = 3
        data = [
            cmd,
            device_id,
            value,
            _type,
            times,
            delay,
        ]

        self.add_send_data_queue(data)
        # if self.serial_ins:
        #     self.serial_ins.write_cmd(data)
        return True

    def to_device_move(
        self,
        device_name,
        value=0,
        max_speed=None,
        up_speed=None,
        down_speed=None,
        _is_debug=0,
        is_relative=0,
        is_deviation=1,
        times=2, is_response=False
    ):
        """
        此处输入单位为 毫米，以及度  需要先缩小，再放大
        """
        self.seed += 1
        if self.seed > 9000:
            self.seed = 1
        print("移动", time.time())
        logger.info("移动,%s", time.time())
        speed = settings.moveSpeed()
        cmd = 1
        device_id = self.device_name_dict[device_name]
        # if device_id != 1:
        #     print("F非MCU设备，禁止处理")
        #     return
        print("正在执行", device_name)
        logger.info("正在执行 %s", device_name)
        match device_name:
            case "camera_high_motor":
                # value 单位毫米
                # max_speed = 10000 if max_speed is None else max_speed
                # up_speed = 800 if up_speed is None else up_speed
                # down_speed = 700 if down_speed is None else down_speed

                max_speed = (
                    speed[device_name]["max_speed"] if max_speed is None else max_speed
                )
                up_speed = (
                    speed[device_name]["up_speed"] if up_speed is None else up_speed
                )
                down_speed = (
                    speed[device_name]["down_speed"]
                    if down_speed is None
                    else down_speed
                )
                value = value / 10  # value 单位毫米
                assert 0 <= value <= 40
                assert 0 <= max_speed <= 10000
            case "camera_steering":
                # 角度为度 未放大 精确到0.1度
                max_speed = 6000 if max_speed is None else max_speed
                up_speed = 500 if up_speed is None else up_speed
                down_speed = 500 if down_speed is None else down_speed
                assert -360 <= value <= 360
            case "turntable_steering":
                # 角度为度 未放大 精确到0.1度
                # max_speed = 6000 if max_speed is None else max_speed
                # up_speed = 500 if up_speed is None else up_speed
                # down_speed = 400 if down_speed is None else down_speed
                max_speed = (
                    speed[device_name]["max_speed"] if max_speed is None else max_speed
                )
                up_speed = (
                    speed[device_name]["up_speed"] if up_speed is None else up_speed
                )
                down_speed = (
                    speed[device_name]["down_speed"]
                    if down_speed is None
                    else down_speed
                )

                assert -720 <= value <= 720

            case "overturn_steering":
                # 角度为度 未放大 精确到0.1度
                max_speed = 2 if max_speed is None else max_speed
                up_speed = 1 if up_speed is None else up_speed
                down_speed = 1 if down_speed is None else down_speed
                assert 0 <= value <= 360

            case "turntable_position_motor":
                # value 单位毫米
                max_speed = 11000 if max_speed is None else max_speed
                up_speed = 900 if up_speed is None else up_speed
                down_speed = 900 if down_speed is None else down_speed
                value = value / 10  # value 单位毫米
                assert 0 <= value <= 900
                assert 0 <= max_speed <= 15000

        _dir = True if value >= 0 else False

        value = int(abs(value * 10))  # 此处value赋值后，单位为mm以及0.1度
        print("准备执行", device_name, value)
        logger.info("准备执行,%s %s", device_name, value)
        data = [
            cmd,
            device_id,
            1 if _dir else 0,
            0xFF & value >> 8,
            0xFF & value,
            0xFF & max_speed >> 8,
            0xFF & max_speed,
            0xFF & up_speed >> 8,
            0xFF & up_speed,
            0xFF & down_speed >> 8,
            0xFF & down_speed,
            _is_debug,
            is_deviation,
            is_relative,
            times,  # 重试次数
            0xff & self.seed >> 8,  # 随机种子
            0xff & self.seed,  # 随机种子
            1 if is_response is True else 0,  # 是否返回内容
        ]
        self.add_send_data_queue(data)
        current_time = time.time()
        self.last_move_time = current_time

    def to_get_mcu_base_info(self):
        if self.connect_state:
            self.lock.acquire()
            # print('==========================>1111')
            print("-------------------to_get_mcu_base_info--------------------------")
            data = [self.command["get_all_info"], 1]
            f = True
            try:
                self.serial_ins.write_cmd(data)
            except:
                f = False
                pass

            self.lock.release()
            if not f:
                self.connect_state = False
                return False
            else:
                return True

    def check_before_action(self):
        if self.state != 2:
            print("check_before_action 设备正在运行中~")
            logger.info("check_before_action 设备正在运行中~")
            self.sendSocketMessage(code=1, msg="设备正在运行中", device_status=1)
            return False

        if self.mcu_move_state != 2:
            if settings.IS_LIN_SHI_TEST:
                return True
            # self.show_info("mcu 非停止状态")
            self.sendSocketMessage(code=1, msg="mcu 非停止状态", device_status=1)
        return True

    async def controlDevice(self, device_name, value):
        """控制设备移动等"""
        await asyncio.sleep(0.01)
        if not self.is_running:
            self.sendSocketMessage(
                code=1, msg="mcu设备未连接,请先连接设备", device_status=0
            )
            return False
        if not self.init_state:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        _is_debug = 1 if settings.IS_DEBUG == "true" else 0
        is_deviation = 0 if settings.IS_DEBUG == "true" else 1
        print("控制设备==>_is_debug", _is_debug)
        logger.info("控制设备==>_is_debug %s", _is_debug)
        match device_name:
            case "camera_high_motor":
                # 相机电机
                print(device_name, value)
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "camera_steering":
                print(device_name, value)
                # 相机舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "turntable_steering":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "turntable_position_motor":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "overturn_steering":
                # 翻板舵机中位
                self.to_deal_device(
                    device_name="overturn_steering",
                )
            case "laser_position":
                self.to_deal_device(
                    device_name="laser_position", value=0 if int(value) <= 0 else 1
                )
            case "take_picture":
                # loop = asyncio.get_event_loop()
                # if value>0:
                #     # 指定自动对焦
                #     loop.create_task(
                #         self.smart_shooter.CameraAutofocus(),
                #         name="CameraAutofocus",
                #     )
                # 拍照
                await self.smart_shooter.CameraShooter(msg_type="run_mcu")
            case "to_deal_device":
                self.to_deal_device(device_name, value=value, _type=0, times=1)
            case _:
                pass

    def checkDevice(self):
        print("检查设备是否运行中")
        logger.info("检查设备是否运行中")
        if not self.is_running:
            self.sendSocketMessage(
                code=1, msg="mcu设备未连接,请先连接设备", device_status=0
            )
            return False
        if self.init_state is not True:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        if self.action_state != 2:
            self.sendSocketMessage(
                code=1,
                msg="当前有未完成的任务，请稍后再试",
                device_status=0,
            )
            return False

    async def run_mcu_config(
        self, config_list, goods_art_no, action_info, smart_shooter
    ):
        if self.checkDevice() == False:
            return
        image_counts = 0
        if config_list:
            action_names = []
            record_ids = []
            if len(config_list) > 1:
                if config_list[-1]["take_picture"] is True:
                    new_init_config = copy.copy(config_list[0])
                    new_init_config["action_name"] = "移动到初始位"
                    new_init_config["number_focus"] = 0
                    new_init_config["take_picture"] = False
                    new_init_config["shoe_upturn"] = False
                    new_init_config["pre_delay"] = 0.0
                    new_init_config["after_delay"] = 0.0
                    new_init_config["led_switch"] = True
                    new_init_config["turntable_angle"] = 0.0
                    new_init_config["is_wait"] = False
                    new_init_config["is_need_confirm"] = False
                    config_list.append(new_init_config)
            for idx, item in enumerate(config_list):
                is_take_picture = item["take_picture"]
                action_id = item["id"]
                record_id = -1
                if is_take_picture:
                    image_counts += 1
                    # 批量插入
                    image_deal_mode = 0 if action_info == "执行左脚程序" else 1
                    state, record_id = await insert_photo_records(
                        image_deal_mode=image_deal_mode,
                        goods_art_no=goods_art_no,
                        image_index=idx,
                        action_id=action_id,
                    )
                config_list[idx]["record_id"] = record_id
            total_len = len(config_list)
            self.action_state = 1
            self.msg_type = "image_process"
            self.sendSocketMessage(
                code=0,
                msg="MCU 命令已发送完成",
                device_status=2,
                data={
                    "goods_art_no": goods_art_no,
                    "image_counts": image_counts,
                    "action_names": action_names,
                    "current_time": datetime.datetime.now(settings.TIME_ZONE).strftime(
                        "%Y-%m-%d %H:%M:%S"
                    ),
                },
            )
            await self.controlDevice("laser_position", 0)
            self.msg_type = "mcu"
            self.is_runn_action = True
            for index, action in enumerate(config_list):
                # await asyncio.sleep(0.01)
                if self.is_stop_action == True:
                    print("停止命令接收，立即终止")
                    logger.info("停止命令接收，立即终止")
                    break
                # action_is_take_picture = action["take_picture"]
                record_id = action["record_id"]
                image_index = -1
                if record_id == -1:
                    image_index = -1
                else:
                    image_index = index
                program_item = ProgramItem(
                    websocket_manager=self.websocket_manager,
                    action_data=action,
                    mcu=self,
                    goods_art_no=goods_art_no,
                    image_index=image_index,
                    smart_shooter=smart_shooter,
                    record_id=record_id,
                    is_get_mcu_state=True,
                )
                program_item.last_move_time = self.last_move_time
                if self.action_state != 1:
                    # 异常终止
                    print("action异常终止")
                    logger.info("action异常终止")
                    break
                self.msg_type = "photo_take"
                if not await program_item.run(total_len):
                    self.sendSocketMessage(
                        code=1,
                        msg="{} 执行失败~".format(program_item.action_name),
                        data={"goods_art_no": goods_art_no, "id": action_id},
                        device_status=0,
                    )
                    self.to_deal_device(device_name="buzzer", times=3)
                    break
                else:
                    if program_item.action_name == "移动到初始位":
                        self.msg_type = "mcu"
                        break
                    self.sendSocketMessage(
                        code=0,
                        msg="{} 执行完成~".format(program_item.action_name),
                        data={"goods_art_no": goods_art_no, "id": record_id},
                        device_status=2,
                    )
                self.msg_type = "mcu"
                if index == total_len - 1:
                    pass
            if self.is_stop_action == True:
                self.msg_type = "run_mcu_stop"
                self.sendSocketMessage(
                    code=0,
                    msg=f"货号:{goods_art_no},执行终止",
                    device_status=2,
                )
                self.is_stop_action = False
            self.action_state = 2
            self.is_runn_action = False
            self.msg_type = "photo_take_finish"
            self.sendSocketMessage(
                code=0,
                msg=f"货号:{goods_art_no},执行完成",
                device_status=2,
            )
            self.msg_type = "mcu"
            await self.controlDevice("laser_position", 1)
        self.action_state = 2

    async def run_mcu_config_single(
        self,
        config_info,
        goods_art_no,
        msg_type="run_mcu_single_finish",
        image_index=-1,
        smart_shooter=None,
        action_id=-1,
    ):
        """独立拍照  仅作测试用"""
        await asyncio.sleep(0.01)
        if self.checkDevice() == False:
            return
        print("检查完成", config_info)
        logger.info("检查完成 %s", config_info)
        if config_info:
            self.action_state = 1
            self.msg_type = "mcu"
            program_item = ProgramItem(
                websocket_manager=self.websocket_manager,
                action_data=config_info,
                mcu=self,
                goods_art_no=goods_art_no,
                image_index=image_index,
                smart_shooter=smart_shooter,
                record_id=action_id,
                is_get_mcu_state=False,
            )
            program_item.last_move_time = self.last_move_time
            if self.action_state != 1:
                # 异常终止
                print("action异常终止")
                logger.info("action异常终止")
                return
            program_item.smart_shooter = smart_shooter
            await program_item.run(3)
            self.msg_type = "mcu"
            print(
                "发送 run_mcu_signle消息",
                "{} 执行完成~".format(program_item.action_name),
            )
            self.sendSocketMessage(
                code=0,
                msg="{} 执行完成~".format(program_item.action_name),
                data={"goods_art_no": goods_art_no, "id": action_id},
                device_status=2,
            )
            self.action_state = 2
            self.msg_type = "run_mcu_single"
            print("发送 run_mcu_signle消息", "执行完成")
            self.sendSocketMessage(
                code=0,
                msg=f"执行完成",
                device_status=2,
            )
            self.msg_type = "mcu"
        else:
            self.sendSocketMessage(
                code=1, msg="未查询到重拍记录得配置信息，请确认", device_status=0
            )
        self.action_state = 2

    async def only_take_photo(self, goods_art_no, image_index, record_id):
        await asyncio.sleep(0.1)
        print("only_take_photo=====>", goods_art_no, image_index, record_id)
        logger.info(
            "only_take_photo=====> %s %s %s", goods_art_no, image_index, record_id
        )
        if goods_art_no == "":
            print("only_take_photo 数据查询异常")
            logger.info("only_take_photo 数据查询异常")
            return
        # 关闭led
        self.controlDevice("laser_position", 0)
        program_item = ProgramItem(
            websocket_manager=self.websocket_manager,
            action_data={},
            mcu=self,
            goods_art_no=goods_art_no,
            image_index=image_index,
            record_id=record_id,
        )
        program_item.digicam_take_picture()
        # 打开led
        self.controlDevice("laser_position", 1)


async def checkMcuConnection(device_ctrl: DeviceControl):
    if device_ctrl.is_running == True:
        message = {
            "_type": "select_port_name",
            "plugins_mode": "auto_select_com",
            "data": device_ctrl.temp_ports_dict,
        }
        device_ctrl.device_status = 2
        device_ctrl.sendSocketMessage(code=0, msg="MCU连接成功", data=message)
        return
    if device_ctrl.is_init_while == True:
        logger.info("mcu 初始化循环已创建，请勿重复创建")
        device_ctrl.sendSocketMessage(
            code=0, msg="mcu 初始化循环已创建，请勿重复创建", data={}
        )
        return
    device_ctrl.is_init_while = True
    """实时检测串口是否连接"""
    while True:
        await asyncio.sleep(1)
        if device_ctrl.mcu_exit:
            break
        ports_dict = device_ctrl.scan_serial_port()
        device_ctrl.temp_ports_dict = ports_dict
        # print("device_ctrl.p_list", device_ctrl.p_list)
        # logger.info("device_ctrl.p_list %s", device_ctrl.p_list)
        if not ports_dict:
            # 全部清空 移除所有串口
            if device_ctrl.p_list:
                _p = device_ctrl.p_list.pop()
                device_ctrl.remove_port(_p)
            continue
        if ports_dict:
            for index, _i in enumerate(device_ctrl.p_list):
                if _i not in ports_dict:
                    _p = device_ctrl.p_list.pop(index)
                    device_ctrl.remove_port(_p)
            for _port_name, _port_value in ports_dict.items():
                if _port_name not in device_ctrl.p_list:
                    try:
                        flag = await device_ctrl.add_port_by_linkage(_port_name)
                        if not flag:
                            continue
                        device_ctrl.p_list.append(_port_name)
                    except BaseException as e:
                        print("串口不存在{} {}".format(_port_name, e))
                        logger.info("串口不存在{} {}".format(_port_name, e))
    device_ctrl.is_init_while = False
    print("MCU断开连接，已释放")
    logger.info("MCU断开连接，已释放")