CameraMachine/python/mcu/DeviceControl.py

import asyncio
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

# mcu命令
class DeviceControl(BaseClass,metaclass=SingletonType):
    lock = threading.Lock()
    def __init__(self, websocket_manager: ConnectionManager):
        super().__init__(websocket_manager)
        self.msg_type = "mcu"
        self.m_t = 1
        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.state_move_turntable_steering = 3

        self.last_from_mcu_move_respond_data = None
        self.camera_motor_speed = 0
        self.camera_motor_value = 0

        self.port_name = ""
        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.connect_state = 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,
        }

        # 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
        }

    async def initDevice(self):
        if not self.is_running:
            self.sendSocketMessage(code=1,msg="mcu设备未连接,请先连接设备")
            return False
        self.serial_ins.clearn_flush()
        self.to_init_device_origin_point(device_name="mcu")
        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()
            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)
        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)

    def get_deviation(self):
        # 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")

    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")

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

    def send_cmd(self):
        self.lock.acquire()
        if self.send_data_queue:
            data = self.send_data_queue.pop(0)
            self.serial_ins.write_cmd(data)
        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
                data = [self.command["get_all_info"], 1]
                self.serial_ins.write_cmd(data)
        self.lock.release()

    def print_mcu_error_data(self, receive_data):
        # 扫码数据
        try:
            data = receive_data[1:].decode()
            print("115  print_mcu_error_data:", data)
        except BaseException as e:
            print("117 error {}".format(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="接收链接信息", data=message)
        print("接收链接信息")
        return

    def to_init_device_origin_point(self, device_name, is_force=True):
        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

    def get_basic_info_mcu(self):
        receive_data = self.serial_ins.read_cmd(out_time=1)
        if receive_data is False:
            print("------------------------------------------------4657564654")
            self.connect_state = False
            return False
        if not receive_data:
            return
        # print("receive_data")
        # 数据 结构 command，按命令解析
        # command 0（9） 相机高度1-2  相机角度3-4  转盘角度5-6 灯光状态7  激光指示器状态8，运行状态9
        command = receive_data[0]
        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,
                },
            }
            self.sendSocketMessage(msg="接收偏移量信息", data=message)
            print("接收偏移量信息")
        return
    # 获取其他信息
    def get_from_mcu_other_info(self, receive_data):
        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))

    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.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
            # 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,
                },
            }
            self.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
        # 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")
                message = {
                    "_type": "is_just_init_time",
                    "plugins_mode": "mcu",
                    "data": "",
                }
                self.sendSocketMessage(msg="检查设备初始化", data=message)
        return

    # def init(self, sign_data):
    #     if sign_data["type"] == "connect_sign":
    #         if sign_data["data"] == 0:
    #             self.is_running = False
    #         else:
    #             self.is_running = True

    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:
            if "CH340" 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)
        data = {
            "_type": "remove_port",
            "plugins_mode": "auto_select_com",
            "data": {"port_name": port_name},
        }
        self.sendSocketMessage(1, "串口被移除", data)

    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)
        # 对没有连接的设备进行尝试连接
        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)
        time.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:
            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,
            )
            print("串口：{} 被占用".format(port_name))
            return

        time.sleep(2)
        print("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。")
            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
        print("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")
            serial_handle.close()
            return

        time.sleep(0.3)
        print("尝试接收命令")
        receive_data = self.read_cmd(serial_handle)
        device_id = 0

        if receive_data:
            print("receive_data", receive_data)
            if receive_data[0] == 90:
                connect_flag = receive_data[1]
                device_id = receive_data[2]

        print("关闭串口：{}".format(port_name))
        serial_handle.close()

        if device_id > 0:
            if device_id == 1:
                self.to_connect_com(port_name)
                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,
                )
                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,
                },
            }
            self.sendSocketMessage(
                msg="MCU连接成功",
                data=message_data,
            )
        else:
            print("串口无法识别")
            # 走其他途径处理

        # 检查当前MCU链接是否正常
        # 正常跳过；记录为其他列表
        # 不正常进行尝试连接
        # 连接不上，记录为其他列表

    def to_connect_com(self, port_name):
        # 关闭串口
        print("to_connect_com", 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,
                )
                self.serial_ins = None
                self.connect_state = False
                return False

        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,
            )
            self.serial_ins = None
            self.connect_state = False
            return False

        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,
        )
        # =======================发送连接请求=================================
        cmd = 90
        data = [cmd, 1]
        print("405  发送 连接请求  -----------------------------------------")
        print(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))
            )
        if receive_data:
            # receive_data[2]=1 表示为MCU设备编号
            if receive_data[0] == 90 and receive_data[2] == 1:
                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))
                message_data = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 已连接",
                }
                self.sendSocketMessage(
                    msg="MCU 已连接",
                    data=message_data,
                )
                self.connect_state = True
                self.is_running = True
                print("MCU 已连接")
                self.port_name = port_name
                return

        print("MCU 连接失败")
        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,
        )
        self.close_connect()

    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 = {}
            print("关闭MCU")

    @property
    def mcu_move_state(self):
        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


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.sendSocketMessage(code=0, msg="MCU连接成功", data=message)
        return
    """实时检测串口是否连接"""
    while True:
        await asyncio.sleep(0.5)
        ports_dict = device_ctrl.scan_serial_port()
        device_ctrl.temp_ports_dict = ports_dict
        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)
            print("串口未连接,请检查")
            device_ctrl.sendSocketMessage(code=1, msg="串口未连接,请检查")
            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:
                        device_ctrl.p_list.append(_port_name)
                        device_ctrl.add_port_by_linkage(_port_name)
                    except BaseException as e:
                        print("串口不存在{} {}".format(_port_name, e))