CameraMachine/python/mcu/capture/smart_shooter_class.py

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

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

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

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

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

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

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

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

    async def CameraAutofocus(self):
        """
        相机自动对焦
        """
        camera_states, _ = await self.GetCameraInfo(is_send=False)
        print("CameraAutofocus 执行对焦")
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "Autofocus"
            req["msg_seq_num"] = 0
            req["CameraSelection"] = "All"
            start_time = time.time()  # 添加对焦开始时间记录
            json_msg = self.__send_tcp_message(socket, req)
            end_time = time.time()  # 添加对焦结束时间记录
            logger.info(f"对焦通信耗时: {end_time - start_time:.4f} 秒")
            print("json_msg", json_msg)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                return False, "对焦失败"
            return True, "对焦成功"
        except zmq.Again:
            print("对焦超时，继续监听...")
        except:
            socket.close()
            context.term()
            return False, "相机未连接或软件未打开"

    async def CameraShooter(self, msg_type="", goods_art_no="", id=0, is_af=False,delay=0.5):
        # 这里延迟一秒钟 等待前置命令完成
        await asyncio.sleep(delay)
        # 对焦混用
        if is_af:
            await self.EnableCameraPreview(enable_status=True, msg_type=msg_type)
            start_time = time.time()
            await self.CameraAutofocus()
            end_time = time.time()
            elapsed_time = end_time - start_time
            logger.info(f"自动对焦耗时  {elapsed_time:.4f} 秒")
            await self.EnableCameraPreview(enable_status=False, msg_type=msg_type)
        self.msg_type = msg_type
        print("camera_states", msg_type)
        """
        执行拍照
        """
        camera_states, _ = await self.GetCameraInfo(is_send=True)
        print("camera_states CameraShooter", camera_states)
        if not camera_states:
            return False, "请先连接相机"
        socket, context = self.__create_req()
        try:
            low_iso,high_iso = await self.getConfigIso()
            print("LOW_ISO", low_iso)
            print("HIGH_ISO", high_iso)
            if str(low_iso).lower() != "auto":
                    await self.setCameraProperty(property="ISO", value=str(low_iso))
            else:
                    print("low_iso 等于auto就不设置")
            req = {}
            req["msg_type"] = "Request"
            req["msg_id"] = "Shoot"
            req["msg_seq_num"] = 1
            req["CameraSelection"] = "All"
            if goods_art_no != "" and id != 0:
                # 此处用逗号分割，货号和id，需要在监听部分进行切割保存处理，如果使用下划线或者减号，可能货号中存在对应符号
                req["PhotoOrigin"] = f"{goods_art_no},{id}"
            else:
                req["PhotoOrigin"] = ""
            json_msg = self.__send_tcp_message(socket, req)
            print("CameraShooter", json_msg)
            msg_result = json_msg.get("msg_result")
            if not msg_result:
                msg_send = "拍照失败"
                message = {
                    "code": 1,
                    "msg": msg_send,
                    "data": None,
                    "msg_type": self.msg_type,
                    "device_status": -1,
                }
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
                return False, msg_send
            msg_send = "拍照成功"
            message = {
                "code": 0,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": 2,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return True, "拍照成功"
        except zmq.Again:
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": {goods_art_no: goods_art_no, "id": id},
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return True, "拍照失败"
        except:
            socket.close()
            context.term()
            msg_send = "相机未连接或软件未打开"
            message = {
                "code": 1,
                "msg": msg_send,
                "data": None,
                "msg_type": self.msg_type,
                "device_status": -1,
            }
            await self.websocket_manager.send_personal_message(message, self.websocket)
            return False, msg_send
    async def asyncMessageListen(self):
        if self.websocket.client_state.name != "CONNECTED":
            print("WebSocket连接已断开，停止发送消息")
            return
        try:
            # 使用非阻塞方式检查队列中是否有项目
            if not message_queue.empty():
                message = message_queue.get_nowait()
                print("发送消息中。。。。。", message)
                await self.websocket_manager.send_personal_message(
                    message, self.websocket
                )
                message_queue.task_done()
        except Exception as e:
            # 处理可能的异常，如队列为空等
            pass

    def connect_listen(self):
        print("smart shooter connect_listen START")
        if self.connect_status == True or self.listen_init == True:
            return True
        
        sub_socket, context = self.__create_listen()
        print("构建监听", self.connect_status)
        
        # 不再需要 self.listen_loop，我们只使用主循环
        
        try:
            while True:
                self.listen_init = True
                
                if self.stop_listen:
                    break
                
                # 1. 阻塞接收 ZMQ 消息 (这是唯一的阻塞点，但在子线程，所以没问题)
                try:
                    raw = sub_socket.recv() # 这里会阻塞直到有消息或超时
                    str_msg = raw.decode("utf-8")
                    json_msg = json.loads(str_msg)
                    
                    if json_msg.get("msg_id") == "NetworkPing":
                        continue
                    
                    # 2. 将回调提交到【主事件循环】
                    if hasattr(self, 'main_loop') and self.main_loop:
                        # 非阻塞提交，立即返回
                        asyncio.run_coroutine_threadsafe(self.callback_listen(json_msg), self.main_loop)
                    else:
                        print("Error: main_loop not set in SmartShooter")
                        
                except zmq.Again:
                    # 超时，继续循环
                    continue
                except Exception as e:
                    print(f"ZMQ Error: {e}")
                    break
                    
        finally:
            self.listen_init = False
            self.connect_status = False
            sub_socket.close()
            context.term()
            print("smart shooter连接断开")