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
import settings
from .ProgramItem import ProgramItem

# 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
        # 0未开始  1进行中 2已结束  99异常
        self.action_state = 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.init_state = False
        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", device_status=0
            )
            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,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)

    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:
            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
        #         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()
            if "设备初始化完成" in data:
                self.init_state = True
                self.sendSocketMessage(msg=data, device_status=2)
            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=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

    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,
                },
            }
            # 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="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, device_status=1
        )
        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,
                device_status=3,
            )
            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, 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,
                },
            }
            self.sendSocketMessage(
                msg="MCU连接成功", data=message_data, device_status=2
            )
        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, device_status=-1
                )
                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, device_status=-1
            )
            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, device_status=1)
        # =======================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, device_status=1
                )
                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, device_status=-1)
        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 = {}
            self.init_state = False
            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

    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,
    ):
        """
        此处输入单位为 毫米，以及度  需要先缩小，再放大
        """

        speed = settings.moveSpeed()

        cmd = 1
        device_id = self.device_name_dict[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)
        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,
        ]
        self.add_send_data_queue(data)

    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 controlDevice(self, device_name, value):
        '''控制设备移动等'''
        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
        match device_name:
            case "camera_high_motor":
                # 相机电机
                print(device_name, value)
                self.to_device_move(
                    device_name=device_name,
                    value=value,
                    max_speed=1400,
                    up_speed=400,
                    down_speed=100,
                    _is_debug=_is_debug,
                    is_deviation=0,
                )
            case "camera_steering":
                print(device_name, value)
                # 相机舵机
                self.to_device_move(
                    device_name=device_name,
                    value=value,
                    _is_debug=_is_debug,
                    is_deviation=0,
                )
            case "turntable_steering":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=value,
                    _is_debug=_is_debug,
                    is_deviation=0,
                )
            case "turntable_position_motor":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=value,
                    max_speed=1400,
                    up_speed=400,
                    down_speed=100,
                    _is_debug=_is_debug,
                    is_deviation=0,
                )
            case "overturn_steering":
                # 翻板舵机中位
                self.to_device_move(
                    device_name="overturn_steering",
                    value=value,
                    _is_debug=_is_debug,
                    is_deviation=0,
                )
            case "to_deal_device":
                self.to_deal_device(device_name, value=value, _type=0, times=1)
            case _:
                pass
            # case "photograph":
            #     self.photograph(goods_art_no=None)

    def run_mcu_config(self,config_list,goods_art_no):
        if config_list:
            config_data = config_list[-1]
            program_item = ProgramItem(
                websocket_manager=self.websocket_manager,
                action_data=config_data, mcu=self, goods_art_no=goods_art_no
            )

            program_item.run_only_mcu()


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
    """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",device_status=-1)
            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))