CameraMachine/python/mcu/RemoteControlV2.py

# module_remote_control_v2


import json
import time, asyncio
import settings
from .SerialIns import SerialIns
from .BaseClass import BaseClass
from sockets.connect_manager import ConnectionManager
from sockets.socket_client import socket_manager

# from .BlueToothMode import BlueToothMode
class RemoteControlV2(BaseClass):
    # sign_data = Signal(dict)

    def __init__(self, bluetooth_ins, websocket_manager: ConnectionManager):
        # 遥控设备处理--新版遥控器；硅胶按钮
        super().__init__(websocket_manager)
        self.msg_type = "blue_tooth"
        self.websocket_manager = websocket_manager
        # self.windows = windows
        self.serial_ins = None
        self.bluetooth_ins = bluetooth_ins

        self.port_name = ""
        self.bluetooth_address = ""
        self.connect_state = False
        self.is_running = False
        self.goods_art_no = None

    def to_connect_com(self, port_name, is_test=False):
        if self.connect_state:
            return

        self.close_connect()
        time.sleep(0.5)
        try:
            # 原值为9600
            self.serial_ins = SerialIns(port_name=port_name, baud=115200)
            # self.serial_ins = SerialIns(port_name=port_name, baud=9600)
            if self.serial_ins.serial_handle:
                message = {
                    "_type": "show_info",
                    "plugins_mode": "remote_control",
                    "data": "遥控设备V2 打开串口成功",
                }
                self.sendSocketMessage(
                    code=0,
                    msg="遥控设备V2 打开串口成功",
                    data=message,
                    device_status=1,
                )
                # print(message)
                self.connect_state = True
                message = {
                    "_type": "remote_control_connect",
                    "plugins_mode": "remote_control",
                    "data": port_name,
                }
                self.sendSocketMessage(code=0, msg="", data=message,device_status=2)
                print(message)
                self.port_name = port_name

                self.is_running = True
                self.set_voltage_value(0)
                self.run()
                return True

            else:
                message = {
                    "_type": "show_info",
                    "plugins_mode": "remote_control",
                    "data": "遥控设备V2 打开串口失败",
                }
                self.sendSocketMessage(
                    code=1, msg="遥控设备V2 打开串口失败", data=message,
                    device_status=-1
                )
                print(message)
                self.serial_ins = None
                self.connect_state = False
                self.set_voltage_value(None)
        except:
            message = {
                "_type": "show_info",
                "plugins_mode": "remote_control",
                "data": "遥控设备V2 打开串口失败",
            }
            print(message)
            self.sendSocketMessage(
                code=1, msg="遥控设备V2 打开串口失败", data=message, device_status=-1
            )
            self.serial_ins = None
            self.connect_state = False
            self.set_voltage_value(None)
            return False

    def to_connect_bluetooth(self, address, is_test=False):
        print("to_connect_bluetooth", self.connect_state)
        if self.connect_state:
            return
        # if self.bluetooth_ins == None:
        #     print("bluetooth_ins 未初始化", bluetooth_mode)
        #     self.bluetooth_ins = BlueToothMode()
        # else:
        #     self.bluetooth_ins = bluetooth_mode
        self.close_connect()
        if self.bluetooth_ins == None:
            print("bluetooth_ins 未初始化", self.bluetooth_ins)
            # self.bluetooth_ins = self.
        self.bluetooth_address = address
        message = {
            "_type": "show_info",
            "plugins_mode": "remote_control",
            "data": "遥控设备V2 打开蓝牙成功",
        }
        print(message)
        self.sendSocketMessage(code=0, msg="遥控设备V2 打开蓝牙成功", data=message,device_status=2)
        self.connect_state = True
        self.is_running = True
        self.set_voltage_value(0)
        if is_test is False:
            loop = asyncio.get_event_loop()
            loop.create_task(self.run())

    def close_bluetooth_connect(self):
        if self.bluetooth_address:
            print("蓝牙断开")
            message = {
                "_type": "show_info",
                "plugins_mode": "remote_control",
                "data": "遥控设备V2 蓝牙断开",
            }
            print(message)
            self.sendSocketMessage(
                code=1, msg="遥控设备V2 蓝牙断开", data=message, device_status=-1
            )
            self.close_connect()
            print("关闭蓝牙")

    def set_voltage_value(self, voltage_value=None, voltage_text=None):
        device_status = 2
        if self.is_running:
            flag = "接收器已连接 {}".format(
                "蓝牙" if self.bluetooth_address else "串口"
            )
        else:
            flag = "接收器未连接"
            device_status = -1

        if voltage_value is None:
            if voltage_text:
                print(voltage_text)
                # 发送电量剩余消息
                self.sendSocketMessage(msg=voltage_text, device_status=device_status)
            else:
                self.sendSocketMessage(msg=flag, device_status=device_status)
        else:
            if voltage_value == 0:
                print(flag)
                self.sendSocketMessage(msg=flag, device_status=device_status)
            else:
                print("电量：{}%".format(voltage_value))
                self.sendSocketMessage(
                    msg="电量：{}%".format(voltage_value), device_status=device_status
                )
        # print("打印===>", flag)
    def close_connect(self):
        self.port_name = ""
        self.bluetooth_address = ""
        # self.bluetooth_ins = None
        if self.serial_ins:
            self.serial_ins.close_serial_port()
        self.connect_state = False

    def __del__(self):
        self.close_connect()

    def play_sound(self, tip="sound_tips_3"):
        self.windows.playsound.tips_type = tip
        self.windows.playsound.start()

    def analysis_received_data(self):
        if not self.connect_state:
            return

        if self.bluetooth_address:
            receive_data = self.bluetooth_ins.read_cmd_one(
                address=self.bluetooth_address
            )
            # print("received data", receive_data)
        else:
            receive_data = self.serial_ins.read_cmd(out_time=1, check=None)
        # print("self.bluetooth_ins", receive_data)
        if receive_data is False:
            self.connect_state = False
            return False

        if not receive_data:
            return
        receive_data_parser = receive_data[0]
        # 数据 结构 command，按命令解析
        if receive_data_parser == 1:
            # self.play_sound("get_qr_code")
            # 扫码数据
            bar_code = receive_data[1:].decode()
            bar_code = bar_code.replace("\r", "")
            bar_code = bar_code.replace("\n", "")
            self.goods_art_no = bar_code
            message = {"_type": 0, "plugins_mode": "remote_control", "data": bar_code}
            print(message)
            self.sendSocketMessage(code=0, msg="", data=message, device_status=2)
            return
        if receive_data_parser == 9:
            # 播放声音
            button_value = receive_data[1]
            data = {"button_value": button_value}
            message = {"_type": 9, "plugins_mode": "remote_control", "data": data}
            print(message)
            if button_value in [1,2]:
                # 扫描货号
                print("收到货号信息", self.goods_art_no)
                if self.goods_art_no == None or self.goods_art_no =="":
                    self.sendSocketMessage(
                        code=1, msg="货号信息不能为空", data=None, device_status=-1
                    )
                    return
                control_program = (
                    "执行左脚程序" if button_value == 1 else "执行右脚程序"
                )
                input_data = {
                    "data": {
                        "action": control_program,
                        "goods_art_no": self.goods_art_no,
                    },
                    "type": "run_mcu",
                }
                loop = asyncio.get_event_loop()
                async def sendControlData():
                    await socket_manager.websocket.send(json.dumps(input_data))
                loop.create_task(sendControlData(), name="sendControlData")
                self.sendSocketMessage(
                    code=0,
                    msg=f"准备执行[{control_program}]",
                    data=input_data,
                    device_status=2,
                )
            self.sendSocketMessage(code=0, msg="", data=message, device_status=2)
            if settings.IS_DEBUG:
                print("收到按键", button_value)
            return

        if receive_data_parser == 10:
            voltage_value = receive_data[1]
            self.set_voltage_value(voltage_value)
            if settings.IS_TEST:
                print("遥控器V2电量：{}".format(voltage_value))
            return

        # 使用Max17048 查看电量
        if receive_data_parser == 12:
            chg_status = self.get_data_from_receive_data(
                receive_data=receive_data, start=1, len_data=1
            )
            soc_percentage = self.get_data_from_receive_data(
                receive_data=receive_data, start=2, len_data=4
            )
            soc_percentage = soc_percentage / 100

            voltage = self.get_data_from_receive_data(
                receive_data=receive_data, start=6, len_data=4
            )
            voltage = voltage / 100

            current = self.get_data_from_receive_data(
                receive_data=receive_data, start=10, len_data=4
            )
            current = current / 10000

            temperature = self.get_data_from_receive_data(
                receive_data=receive_data, start=14, len_data=4
            )
            temperature = temperature / 100

            adjusted_soc = self.get_data_from_receive_data(
                receive_data=receive_data, start=18, len_data=4
            )
            adjusted_soc = adjusted_soc / 100

            soft_vision = self.get_data_from_receive_data(
                receive_data=receive_data, start=22, len_data=1
            )
            full_status = self.get_data_from_receive_data(
                receive_data=receive_data, start=23, len_data=1
            )

            # print("is_charging:{}".format(chg_status))
            # print("Battery SOC: {:.2f}%".format(soc_percentage))
            # print("Battery Voltage: {:.3f}V".format(voltage))
            # print("Average Current: {:.3f}A".format(current))
            # print("Chip Temperature: {:.1f}°C".format(temperature))
            # print("adjusted Battery soc: {:.2f}%".format(adjusted_soc))
            # print("soft_vision:{}".format(soft_vision))
            # print("chg_status:{}  full_status:{}".format(chg_status, full_status))
            if chg_status:
                t1 = "充电中"
            else:
                t1 = ""

            if full_status:
                t2 = "已充满"
            else:
                t2 = ""

            self.set_voltage_value(
                voltage_text="遥控器：{:.1f}%  {:.2f}V {}{}".format(
                    min(adjusted_soc / 92.5 * 100, 100), voltage, t1, t2
                )
            )
            return

        if receive_data[0] == 111:
            value = (
                receive_data[1] << 24
                | receive_data[2] << 16
                | receive_data[3] << 8
                | receive_data[4]
            )
            print("遥控器-测试   value:{}".format(value))
            # self.windows.show_label.setText("--------{}".format(value))
        if receive_data[0] == 112:
            bar_code = receive_data[1:].decode()
            bar_code = bar_code.replace("\r", "")
            bar_code = bar_code.replace("\n", "")
            print("read bar_code {}".format(bar_code))

    # 通用串口数据解析器
    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

    async def run(self):
        # self.show_info.emit("未连接")
        # self.data_command_sign.emit(data)
        self.is_running = True
        print("Running")
        while 1:
            await asyncio.sleep(0.01)
            if not self.connect_state:
                message = {
                    "_type": "show_info",
                    "plugins_mode": "remote_control",
                    "data": "遥控设备V2 未连接",
                }
                print(message)
                self.sendSocketMessage(code=1, msg="遥控设备V2 未连接", data=message,device_status=-1)
                break
            self.analysis_received_data()

        self.is_running = False
        if not self.connect_state:
            message = {
                "_type": "show_info",
                "plugins_mode": "remote_control",
                "data": "遥控设备V2 未连接",
            }
            print(message)
            self.sendSocketMessage(
                code=1, msg="遥控设备V2 未连接", data=message, device_status=-1
            )
            self.set_voltage_value(None)