CameraMachine/python/mcu/Mcu.py

from .BaseClass import BaseClass
from utils.SingletonType import SingletonType
import settings
from .SerialIns import SerialIns
import time
from threading import Lock
from collections import defaultdict
# from threading import Thread


class Mcu(BaseClass, metaclass=SingletonType):
    instance = None
    init_flag = None
    # sign_data = Signal(dict)
    # self_sign = Signal(dict)

    def __init__(self, window, port_name=None):
        super().__init__(BaseClass)
        if self.init_flag:
            return
        else:
            self.init_flag = True
        # 终端设备是否处于运动中 1运动中，2已停止  3未初始化
        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.init_state = False

        self.connect_state = False
        self.port_name = ""
        self.serial_ins = None

        self.connect_turn_state = False
        self.serial_turn_ins = None
        self.t_n = 0

        if port_name:
            self.serial_ins = SerialIns(port_name=port_name, baud=115200)
            if self.serial_ins.serial_handle:
                self.connect_state = True
                self.port_name = port_name

        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
        }

    # 打印下位机的错误内容
    def print_mcu_error_data(self, receive_data):
        # 扫码数据
        try:
            data = receive_data[1:].decode()
            if data == "设备初始化完成":
                self.init_state = False
                self.sendSocketMessage(msg=data,device_status=2)
            print("115  print_mcu_error_data:", data)
        except BaseException as e:
            print("117 error {}".format(e))
        return

    # 停止运行mcu
    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)

    # 查询遥控器电量
    def query_remote_control_battery(self):
        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)

    # 获取MCU响应
    def get_from_mcu_move_respond_data(self, receive_data):
        self.last_from_mcu_move_respond_data = receive_data

    def change_hex_to_int(self, _bytearray):
        return " ".join([hex(x) for x in _bytearray])

    # 获取基本情况
    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

    # 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))

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

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

    # 获取按键信息
    def get_from_mcu_button(self, receive_data):
        button_name = receive_data[1]
        self.deal_mcu_button(button_name)

    # 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

    # 设备链接信息
    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 init(self):
        self.self_sign.connect(self.deal_self_sign_data)

    # LED 灯光处理
    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 deal_self_sign_data(self, sign_data):
        if sign_data["type"] == "connect_sign":
            if sign_data["data"] == 0:
                self.is_running = False
            else:
                self.is_running = True

    def to_connect_com(self, port_name, is_test=False):
        # 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:
                # self.sign_data.emit(
                #     {
                #         "_type": "show_info",
                #         "plugins_mode": "mcu",
                #         "data": "MCU 打开串口失败",
                #     }
                # )
                message = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 打开串口失败",
                }
                self.sendSocketMessage(code=1,msg="接收链接信息", data=message)
                self.serial_ins = None
                self.connect_state = False
                return False

        except:
            # self.sign_data.emit(
            #     {
            #         "_type": "show_info",
            #         "plugins_mode": "mcu",
            #         "data": "MCU 打开串口失败",
            #     }
            # )
            message = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 打开串口失败",
                }
            self.sendSocketMessage(code=1,msg="MCU 打开串口失败", data=message)
            self.serial_ins = None
            self.connect_state = False
            return False

        # self.sign_data.emit(
        #     {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 开始连接"}
        # )
        message = {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 开始连接"}
        self.sendSocketMessage(
            code=1, msg="MCU 开始连接", data=message, 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))

                # self.sign_data.emit(
                #     {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 已连接"}
                # )
                message = {
                    "_type": "show_info",
                    "plugins_mode": "mcu",
                    "data": "MCU 已连接",
                }
                self.sendSocketMessage(code=1, msg="MCU 开始连接", data=message)
                self.connect_state = True
                if not self.is_running:
                    print("MCU start")
                    self.start()
                self.self_sign.emit({"type": "connect_sign", "data": connect_flag})
                print("MCU 已连接")
                self.port_name = port_name
                return

        print("MCU 连接失败")
        self.sign_data.emit(
            {"_type": "show_info", "plugins_mode": "mcu", "data": "MCU 连接失败"}
        )
        self.close_connect()

    def close_connect(self):
        self.port_name = ""
        if self.serial_ins:
            self.serial_ins.close_serial_port()
            self.connect_state = False
            self.init_state = False

    @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 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 run(self):
        self.is_running = True
        self.serial_ins.clearn_flush()
        self.to_init_device_origin_point(device_name="mcu")
        print("MCU 开始循环~")
        while 1:
            time.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 __del__(self):
        self.close_connect()

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

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

    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)

    def get_mcu_state(self):
        """
        获取mcu 设备状态，当状态为停止时，其他程序才可正常执行
        :return:
        """
        return True

    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 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

    # 让设备运动到原点 并设置MCU需要进行初始化
    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
            QTimer.singleShot(5000, self.just_init)

        return True

    def just_init(self, *args):
        # 重置初始化标记为  从未初始化
        self.is_just_init_time = False

    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]

        if device_name == "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

        if device_name == "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

        if device_name == "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

        if device_name == "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

        if device_name == "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
        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)
        # if self.serial_ins:
        #     self.serial_ins.write_cmd(data)

    # 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

    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 __new__(cls, *args, **kwargs):
        """如果当前没有实例时，调用父类__new__方法，生成示例，有则返回保存的内存地址。"""
        if not cls.instance:
            cls.instance = super().__new__(cls)
        return cls.instance


class McuDebug(object):
    def __init__(self, windows, is_debug=True, is_deviation=False):
        self.windows = windows
        self.is_debug = 1 if is_debug else 0
        self.is_deviation = 1 if is_deviation else 0

    def camera_high_motor(self, value):
        # 相机电机
        self.windows.mcu.to_device_move(
            device_name="camera_high_motor",
            value=value,
            max_speed=1400,
            up_speed=400,
            down_speed=100,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def camera_steering(self, value):
        # 相机舵机
        self.windows.mcu.to_device_move(
            device_name="camera_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def turntable_steering(self, value):
        # 转盘舵机
        self.windows.mcu.to_device_move(
            device_name="turntable_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def turntable_position_motor(self, value):
        # 转盘舵机
        self.windows.mcu.to_device_move(
            device_name="turntable_position_motor",
            value=value,
            max_speed=1400,
            up_speed=400,
            down_speed=100,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def overturn_steering(self, value):
        # 翻板舵机中位
        self.windows.mcu.to_device_move(
            device_name="overturn_steering",
            value=value,
            _is_debug=self.is_debug,
            is_deviation=self.is_deviation,
        )

    def to_deal_device(self, device_name, value=1, _type=0, times=1):
        self.windows.mcu.to_deal_device(
            device_name, value=value, _type=_type, times=times
        )

    def photograph(self, goods_art_no=None):
        self.windows.photograph(goods_art_no=goods_art_no)

    def __move_equipment(self, data):
        func_class = {
            "相机电机": self.camera_high_motor,
            "相机舵机": self.camera_steering,
            "转盘舵机": self.turntable_steering,
            "转盘前后电机": self.turntable_position_motor,
        }
        for key, value in data.items():
            if key in func_class:
                func_class[key](value=value)
                time.sleep(0.1)

    def move_equipment(self, data: dict):
        Thread(target=self.__move_equipment, args=(data,)).start()