CameraMachine/python/mcu/DeviceControl.py

import asyncio
import datetime
from cv2 import log
import serial.tools.list_ports
import time, json
from .SerialIns import SerialIns
from utils.SingletonType import SingletonType
from utils.utils_func import dynamic_parameter_issuance_get
from .BaseClass import BaseClass
from sockets import ConnectionManager
from collections import defaultdict
import threading
import settings
from .ProgramItem import ProgramItem
from .capture.module_digicam import DigiCam
from databases import insert_photo_records
from .McuDeviationSet import McuDeviationSet
from .OtherSet import OtherSet
from .DebugUart import DebugUart
from .LineControl import LineControl
import copy
import logging
from mcu.capture.smart_shooter_class import SmartShooter
import logging
from conifg_info import ConfigManager

logger = logging.getLogger(__name__)


# mcu命令
class DeviceControl(BaseClass, metaclass=SingletonType):
    lock = threading.Lock()

    def __init__(
            self, websocket_manager: ConnectionManager, smart_shooter: SmartShooter = None
    ):
        super().__init__(
            websocket_manager=websocket_manager, smart_shooter=smart_shooter
        )
        self.camera_high_motor_deviation_offset = 0
        self.camera_height = 400
        self.config_manager = None
        self.msg_type = "mcu"
        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.serial_ins = None
        self.mcu_deviation_set = McuDeviationSet(self)
        self.mcu_other_set = OtherSet(self)
        self.debug_uart = DebugUart(self)
        self.line_control = LineControl(websocket_manager)
        self.m_t = 1
        # 0未开始  1进行中 2已结束  99异常
        self.action_state = 2
        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.seed = 0
        self.last_camera_height = 0
        # 是否实时获取mcu状态信息
        self.is_get_mcu_state = True
        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.mcu_exit = False
        self.t_n = 0

        self.connected_ports_dict = {}  # 已连接的ports
        self.p_list = []
        self.temp_ports_dict = {}
        self.is_running = False
        self.is_runn_action = False
        self.is_stop_action = False
        self.connect_state = False
        self.is_init_while = 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,
        }
        self.last_move_time = time.time()
        self.device_name_dict_mapping = {
            0: "相机角度",
            1: "相机高度",
            2: "转盘角度",
            3: "翻板角度",
            4: "激光灯位置",
            5: "蜂鸣器",
            6: "split",
            7: "转盘位置",
            8: "播放音频",
            99: "mcu命令",
        }
        # 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.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
            255: self.print_mcu_noraml_data,  # 打印回执
            124: self.read_register_data_by_usb,  # 读取某个寄存器数据
            125: self.write_register_data_by_usb,  # 写入某个寄存器数据
            126: self.get_all_registers_list_by_usb,  # 获取所有寄存器
            150: self.dynamic_parameter_issuance,  # 动态参数下发
        }

    def set_dynamic_config(self, config):
        """
        设置动态参数配置
        """
        print("set_dynamic_config", config)
        if not self.init_state:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        return self.config_manager.set_dynamic_value(config)

    def get_dynamic_config(self):
        """
        获取动态参数配置
        """
        if not self.init_state:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        # 先收集需要删除的键
        keys_to_delete = []
        for item in list(self.config_manager.CONFIG_METADATA.keys()):
            item_value = self.config_manager.get_dynamic_value(self.config_manager.CONFIG_METADATA[item])
            if not item_value:
                keys_to_delete.append(item)
                continue
            self.config_manager.CONFIG_METADATA[item]['value'] = item_value

        # 遍历结束后再删除
        for key in keys_to_delete:
            del self.config_manager.CONFIG_METADATA[key]

        return self.config_manager.CONFIG_METADATA

    def get_device_info(self):
        if not self.init_state:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        cmd = [124]
        cmd.extend([0xff & 106 >> 8, 0xff & 106])
        # print("get_device_info cmd",cmd)
        data = self.get_basic_info_mcu_without_async(data=cmd)
        # print("get_device_info====>",data)
        if not data:
            return False
        return_data = self.analysis_data(data[1:])
        is_camera_has_focal = self.config_manager.is_camera_has_focal()
        # print("return_data", return_data)
        # print("camera_high_motor_deviation_offset", self.camera_high_motor_deviation_offset)
        if return_data:
            camera_height = return_data.get('value', 35)
            self.camera_height = camera_height - self.camera_high_motor_deviation_offset
        else:
            self.camera_height = 400 - self.camera_high_motor_deviation_offset
        self.msg_type = 'get_device_info'
        self.sendSocketMessage(
            code=0,
            msg="获取其他设备信息",
            device_status=2,
            data={"camera_height": self.camera_height, "is_camera_has_focal": is_camera_has_focal}
        )
        self.msg_type = 'mcu'
        return self.camera_height

    # 获取异步数据
    def analysis_data(self, _data):
        _addr = _data[0] << 8 | _data[1]
        if _addr not in self.config_manager.CONFIG_METADATA_BY_ADDR:
            return False
        start = 2
        _value = _data[start] << 40 | _data[start + 1] << 32 | _data[start + 2] << 24 | _data[start + 3] << 16 | _data[
            start + 4] << 8 | _data[start + 5]

        start = start + 5
        _read_only = True if _data[start + 1] == 1 else False  # 是否只读
        _dir = 1 if _data[start + 2] == 1 else -1
        _type = "int" if _data[start + 3] == 1 else "float"
        _precision = _data[start + 4]

        if _dir < 0:
            _value = _value * _dir

        if _type == "float":
            if _precision > 0:
                _round_x = _precision
                _precision = _precision * -1
                _value = _value * 10 ** _precision
                _value = round(_value, _round_x)
        else:
            _value = int(_value)

        return_data = {"addr": _addr,
                       "key_name": self.config_manager.CONFIG_METADATA_BY_ADDR[_addr],
                       "readonly": _read_only,
                       "value": _value}
        return return_data
        # 跳过异步，直接查询某个数据信息

    def get_basic_info_mcu_without_async(self, data, fiddler_cmd=0):
        """
        fiddler_cmd :只接收指定的命令内容
        """
        try:
            # 清空接收数据
            self.serial_ins.clearn_flush()
            self.serial_ins.write_cmd(data)
            time.sleep(0.06)
            r_data = self.get_basic_info_mcu()
            print("264----------r_data:", r_data)
        except BaseException as e:
            print("302---e", e)
            r_data = []
        #
        # self.async_lock.release()
        return r_data

    def dynamic_parameter_issuance(self, receive_data):
        print("dynamic_parameter_issuance   receive_data", receive_data)
        func_code, status_code, out_par_data_list = dynamic_parameter_issuance_get(
            receive_data
        )
        r_data = {
            "func_code": func_code,
            "status_code": status_code,
            "out_par_data_list": out_par_data_list,
        }
        print(r_data)
        return r_data

    # 读取某个寄存器数据
    def read_register_data_by_usb(self, receive_data):
        return receive_data

    # 写入某个寄存器数据
    def write_register_data_by_usb(self, receive_data):
        return receive_data

    # 获取所有寄存器
    def get_all_registers_list_by_usb(self, receive_data):
        byte_list = receive_data[1:]
        _r_data = []
        for i in range(0, len(byte_list), 2):
            if i + 1 < len(byte_list):
                first_byte = byte_list[i]
                second_byte = byte_list[i + 1]
                _addr = first_byte << 8 | second_byte
                _r_data.append(_addr)
        return _r_data

    async def sendCommand(self, command):
        await asyncio.sleep(0.01)
        loop = asyncio.get_event_loop()
        loop.create_task(self.debug_uart.set(command), name="sendCommand2")

    async def getMcuOtherInfo(self):
        await asyncio.sleep(0.01)
        self.get_other_info()

    async def setMcuOtherInfo(self, data):
        await asyncio.sleep(0.01)
        for k, v in data.items():
            print("k:{},v:{}".format(k, v))
            logger.info("k:{},v:{}".format(k, v))
            data[k] = self.setOtherMaxMinValue(k, v)
        self.set_to_mcu_other_info(data)
        self.msg_type = "set_other_mcu_info"
        self.sendSocketMessage(
            code=0,
            msg="设置mcu其他配置信息完成",
            device_status=2,
        )
        self.msg_type = "mcu"

    def setOtherMaxMinValue(self, item, value):
        value = int(value)
        parameter_limits = {
            "is_auto_send_base_info": (0, 10000),
            "is_move_retry": (0, 10000),
            "is_data_response": (0, 10000),
            "low_speed": (0, 10000),  # 假设低速范围是0到1000
            "is_test": (0, 10000),
            "to_init_mode": (0, 10000),
            "turntable_move_to_init_mode": (0, 10000),  # 假设转盘通讯方式范围是0到3
            "led_count": (0, 10000),  # 假设LED数量范围是0到10
            "turntable_steering_angle_ratio": (0, 10000),  # 假设角度比例范围是0到100
            "is_manual_check": (0, 10000),
            "camera_steering_angle_ratio": (0, 100000),  # 假设角度比例范围是0到100
            "is_auto_motor_to_disable": (0, 10000),
            "diff_dir": (0, 10000),
            "is_auto_send_pos_info": (0, 10000),
            "is_dog": (0, 10000),
            "has_been_set_motor_config": (0, 10000),
        }

        # 获取参数的最小值和最大值
        min_value, max_value = parameter_limits.get(item, (0, 10000))
        value = max(min_value, min(max_value, value))
        return value

    async def initDevice(self, is_force=False):
        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 self.init_state == True:
            print("已经初始化过,请勿重复初始化")
            logger.info("已经初始化过,请勿重复初始化")
            self.sendSocketMessage(msg="设备初始化完成", device_status=2)
            return False
        self.config_manager = ConfigManager(self)
        self.serial_ins.clearn_flush()
        self.to_init_device_origin_point(device_name="mcu", is_force=is_force)
        print("MCU 开始循环~")
        logger.info("MCU 开始循环~")
        while 1:
            await asyncio.sleep(0.05)
            if not self.serial_ins or not self.connect_state:
                break
            try:
                self.send_cmd()
                if not self.get_basic_info_mcu():
                    pass
            except BaseException as e:
                print("121231298908", e)
                logger.info(f"121231298908{e}")
                break

        self.is_running = False
        self.connect_state = False
        print("MCU 循环退出~")
        logger.info("MCU 循环退出~")
        print("串口未连接,请检查")
        logger.info("串口未连接,请检查")
        self.sendSocketMessage(code=1, msg="MCU串口未连接,请检查", device_status=-1)
        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()

    async def initControlLine(self, serial_handle):
        """实例化有线控制设备"""
        self.line_control.connect_state = True
        self.line_control.serial_ins = serial_handle
        await self.line_control.run()

    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 getDeviationInfo(self):
        # await asyncio.sleep(0.01)
        try:
            # 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")
            logger.info("发送获取偏移量")
        except Exception as e:
            print(e)
            print("getDeviationInfo", "暂未获取到self.command")
            logger.info("getDeviationInfo暂未获取到self.command")

    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)
        # self.controlDevice(device_name, deviation)

    async def set_deviation_cmd(self, value, action_name, type):
        await asyncio.sleep(0.01)
        name_sets = [
            "相机电机",  # min 0 max 400,步长1
            "相机舵机",  # min -40 max 40,步长0.1
            "转盘舵机",  # min -720 max 720,步长1
            "转盘前后电机",  # min 0 max 950,步长1
            "翻板舵机中位",  # min 0 max 180,步长0.5
            "翻板舵机高位",  # min 0 max 180,步长0.5
            "翻板舵机上升速度",  # min 1 max 10,步长1
            "翻板舵机下降速度",  # min 1 max 10,步长1
        ]
        if action_name not in name_sets:
            self.msg_type = f"{type}_deviation"
            self.sendSocketMessage(msg="设置参数有误，请检查", device_status=0, code=1)
            self.msg_type = "mcu"
            return
        # 发送获取偏移量
        if type == "move":
            self.mcu_deviation_set.change_value(value, action_name)
        elif type == "set":
            self.mcu_deviation_set.set_deviation(action_name)
        self.msg_type = f"{type}_deviation"
        self.sendSocketMessage(msg=f"{action_name} 设置成功", device_status=2, code=0)
        self.msg_type = "mcu"

    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")
        logger.info("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))
            logger.info("send_data_queue  append  %s", data)
            self.send_data_queue.append(data)
        self.lock.release()

    async def send_all_cmd(self):
        # await asyncio.sleep(0.001)
        while True:
            await asyncio.sleep(0.1)
            if self.send_data_queue:
                # self.sendSocketMessage(msg="正在发送命令", device_status=1)
                data = self.send_data_queue.pop(0)
                # print("\033[1;32;40m 正在发送命令 \033[0m",data)
                self.serial_ins.write_cmd(data)
                # self.sendSocketMessage(msg="命令发送完成", device_status=2)
            else:
                break

    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
                self.send_get_all_info_to_mcu()
        self.lock.release()

    def send_get_all_info_to_mcu(self):
        if self.is_get_mcu_state is False:
            return
        data = [self.command["get_all_info"], 1]
        self.serial_ins.write_cmd(data)

    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
                logger.info(f"设备初始化完成:%{data}")
                self.sendSocketMessage(msg=data, device_status=2)
            else:
                # print("设备异常数据打印:", data)
                logger.info(f"115  设备异常数据打印:%{data}")
                msg_data = {
                    "message": data
                }
                self.sendSocketMessage(msg="设备信息打印", data=msg_data, device_status=2,
                                       msg_type="print_mcu_error_data")
        except BaseException as e:
            print("117 error {}".format(e))
            logger.info(f"117 error %{e}")
        return

    def print_mcu_noraml_data(self, receive_data):
        # 扫码数据
        print("接收到255数据:", receive_data)
        try:
            command_mapping = {
                1: "设备运动",
                2: "初始化设备",  # 初始化设备
                3: "处理其他设备",  # 处理其他设备
                29: "获取所有信息",  # 获取所有信息
                40: "设置偏移量",  # 设置偏移量
                41: "读取偏移量",  # 读取偏移量
                91: "信号转发处理",  # 信号转发处理
                92: "信号转发返回",  # 信号转发返回
                44: "获取其他信息",  # 获取其他信息
                43: "RGB灯的处理与通讯",  ## RGB灯的处理与通讯
                45: "设置其他信息",  # 设置其他信息
                47: "查询遥控器电量",  # 查询遥控器电量
                48: "设置转盘通讯方式 1、串口、2、无线、3 混合",  #
                93: "停止运行mcu",  # 停止运行mcu
                90: "连接MCU",  # 连接MCU
            }
            # command = int(receive_data[0])
            command = int(receive_data[1])
            command_text = command_mapping[command]
            # receive_data_temp = receive_data[2:]
            receive_data_temp_text = " ".join([hex(x) for x in receive_data])
            # print("255  command_text:", command_text)
            if command_text in ["设备运动", "处理其他设备"]:
                device_id = int(receive_data[2])
                device_value = int(receive_data[3])
                device_name_info = self.device_name_dict_mapping[device_id]
                message_info = {"设备名称": device_name_info, "运动值": device_value}
                print("【设备运动】消息回执:", message_info)
                logger.info(f"设备运动消息回执:{message_info}")
            print("接收设备消息回执:", command_text)
            logger.info(f"接收设备消息回执:{receive_data_temp_text}")
        except BaseException as e:
            print(f"255 error {e}")
            logger.info(f"255 error {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="接收连接信息", data=message)
        print("接收链接信息")
        logger.info("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

    # 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)

    async def cleanAllReceiveData(self):
        while True:
            await asyncio.sleep(0.001)
            receive_data = self.serial_ins.read_cmd(out_time=1)
            if not receive_data:
                break

    def get_basic_info_mcu(self):
        receive_data = self.serial_ins.read_cmd(out_time=1)
        if receive_data is False:
            logger.info("get_basic_info_mcu,------------------------------------------------4657564654")
            self.connect_state = False
            return False
        if not receive_data:
            return False
        command = receive_data[0]
        print("get_basic_info_mcu", command)
        if command in self.deal_code_func_dict:
            _data = ' '.join([hex(x) for x in receive_data])
            return self.deal_code_func_dict[command](receive_data)
        return False

    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.camera_high_motor_deviation_offset = camera_high_motor_deviation
            get_deviation_data = {
                "camera_high_motor_deviation": camera_high_motor_deviation,
                "camera_steering_deviation": camera_steering_deviation,
                "turntable_steering_deviation": turntable_steering_deviation,
                "turntable_front_end_deviation": 300,
                "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.initDeviationInfo(get_deviation_data)
            self.msg_type = "get_deviation_data"
            self.sendSocketMessage(msg="接收偏移量信息", data=get_deviation_data)
            self.msg_type = "mcu"
            print("接收偏移量信息", get_deviation_data)
            logger.info("接收偏移量信息")
        return

    def initDeviationInfo(self, get_deviation_data):
        # 初始化偏移量信息
        camera_high_motor_deviation = get_deviation_data["camera_high_motor_deviation"]
        camera_steering_deviation = get_deviation_data["camera_steering_deviation"]
        turntable_steering_deviation = get_deviation_data[
            "turntable_steering_deviation"
        ]
        overturn_steering_middle = get_deviation_data["overturn_steering_middle"]
        overturn_steering_high = get_deviation_data["overturn_steering_high"]
        overturn_steering_up_speed = get_deviation_data["overturn_steering_up_speed"]
        overturn_steering_down_speed = get_deviation_data[
            "overturn_steering_down_speed"
        ]
        self.mcu_deviation_set.last_value["相机电机"] = camera_high_motor_deviation
        self.mcu_deviation_set.last_value["相机舵机"] = camera_steering_deviation
        self.mcu_deviation_set.last_value["转盘舵机"] = turntable_steering_deviation
        self.mcu_deviation_set.last_value["翻板舵机中位"] = overturn_steering_middle
        self.mcu_deviation_set.last_value["翻板舵机高位"] = overturn_steering_high
        self.mcu_deviation_set.last_value["翻板舵机上升速度"] = (
            overturn_steering_up_speed
        )
        self.mcu_deviation_set.last_value["翻板舵机下降速度"] = (
            overturn_steering_down_speed
        )

    # 获取其他信息
    def get_from_mcu_other_info(self, receive_data):
        # TODO  已完成设置
        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))
            logger.info("k:%s,v:%s", k, v)
        self.msg_type = "get_mcu_other_info"
        self.sendSocketMessage(
            code=0,
            msg="获取mcu其他配置信息",
            device_status=2,
            data=self.last_mcu_other_info_data["data"],
        )
        self.msg_type = "mcu"

    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.msg_type = "get_mcu_info"
            self.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
            self.msg_type = "mcu"
            # 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="设备初始化完成", device_status=2)
            self.msg_type = "get_mcu_info"
            self.sendSocketMessage(msg="获取mcu设备运行状态信息", data=message)
            self.msg_type = "mcu"
        # 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")
                logger.info("设备初始化完成")
                message = {
                    "_type": "is_just_init_time",
                    "plugins_mode": "mcu",
                    "data": "",
                }
                self.sendSocketMessage(msg="检查设备初始化", data=message)
        return

    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:
            # logger.info("扫描到的串口信息：{}".format(port.description))
            if "CH34" 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)
        logger.info("串口被移除")
        data = {
            "_type": "remove_port",
            "plugins_mode": "auto_select_com",
            "data": {"port_name": port_name},
        }
        self.sendSocketMessage(1, "串口被移除", data)

    def is_serial_available(self, port):
        try:
            ser = serial.Serial(port)
            ser.close()
            return True
        except serial.serialException:
            return False

    async 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", port_name)
        logger.info("add port_name %s", port_name)
        print("self.port_name", self.port_name)
        logger.info("self.port_name %s", self.port_name)
        if self.port_name == port_name:
            self.port_name = ""
            # 对没有连接的设备进行尝试连接
            # 如果存在串口被占用则进行断开
            self.is_serial_available(port_name)
            return False
        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
        )
        await asyncio.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 Exception as e:
            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=-1,
            )
            print("串口：{} 被占用".format(port_name))
            logger.info("串口：%s 被占用", port_name)
            if self.serial_ins.serial_handle is not None:
                self.serial_ins.serial_handle.close()
            return False

        await asyncio.sleep(2)
        print("开始发送命令")
        logger.info("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。")
            logger.info("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 False
        print("尝试写入数据")
        logger.info("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")
            logger.info("写入数据错误")
            serial_handle.close()
            return False

        await asyncio.sleep(0.3)
        receive_data = self.read_cmd(serial_handle)
        # print("尝试接收命令", receive_data)
        # logger.info("尝试接收命令,%s", receive_data)
        device_id = 0

        if receive_data:
            print("receive_data", receive_data)
            logger.info("receive_data %s", receive_data)
            if receive_data[0] == 90:
                connect_flag = receive_data[1]
                device_id = receive_data[2]
        else:
            logger.info("串口数据未监听到，继续等待...%s", port_name)
            return False
        print("关闭串口：{}".format(port_name))
        logger.info("关闭串口：%s", port_name)
        serial_handle.close()
        loop = asyncio.get_event_loop()
        print("device_id============>>>", device_id)
        logger.info("device_id============>>>%s", device_id)
        if device_id > 0:
            if device_id == settings.MCU_CODE:
                state, _ = self.to_connect_com(port_name)
                if not state:
                    return False
                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,
                    },
                }
                return True
            elif device_id == 2:
                # 有线接收器
                self.connected_ports_dict[port_name] = "Line_Control"
                # print("device_id", device_id)
                # logger.info("device_id %s", device_id)
                state = await self.line_control.to_connect_com(port_name)
                if not state:
                    return False
                self.line_control.connect_state = True
                return True

        else:
            print("串口无法识别")
            logger.info("串口无法识别")
            self.sendSocketMessage(
                code=1,
                msg="串口无法识别,请重新插拔拍照机USB",
                data=message_data,
                device_status=-1,
            )
            return False
            # 走其他途径处理

    def clearMyInstance(self):
        SingletonType.clear_instance()

    def to_connect_com(self, port_name):
        # 关闭串口
        print("to_connect_com", port_name)
        logger.info("to_connect_com %s", 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, None

        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, None

        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  -----------------------------------------")
        logger.info("405  发送 连接请求  -----------------------------------------")
        print(self.serial_ins)
        logger.info(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))
            )
            logger.info(
                "409  receive_data--90:%s", str(self.change_hex_to_int(receive_data))
            )
        else:
            return False, None
        if receive_data:
            # receive_data[2]=1 表示为MCU设备编号
            if receive_data[0] == 90 and receive_data[2] == settings.MCU_CODE:
                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))
                logger.info("MCU初始化信息%s", str(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")
                logger.info("MCU 已连接")
                self.port_name = port_name
                # time.sleep(2)
                loop = asyncio.get_event_loop()
                # # 异步处理
                loop.create_task(self.initDevice(), name="initDevice")
                return True, None
        print("MCU 连接失败")
        logger.info("MCU 连接失败")
        # for port in self.p_list:
        #     logger.info(
        #         "MCU 连接失败处理list移除操作,self port name %s,p_list:%s",
        #         port_name,
        #         self.p_list,
        #     )
        #     if port == port_name:
        #         logger.info("MCU 连接失败处理list移除操作,移除 %s", port_name)
        #         self.p_list.remove(port)
        #         self.remove_port(port)
        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()
        return False, None

    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")
            logger.info("关闭MCU")

    def close_lineConnect(self):
        """'关闭有线遥控器连接"""
        self.line_control.port_name = ""
        self.line_control.close_connect()
        print("关闭有线遥控器")
        logger.info("关闭有线遥控器")

    @property
    def mcu_move_state(self):
        if self.is_get_mcu_state is False:
            self._mcu_move_state = 2
            # self.action_state = 2
        else:
            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,
            times=2, is_response=False
    ):
        """
        此处输入单位为 毫米，以及度  需要先缩小，再放大
        """
        self.seed += 1
        if self.seed > 9000:
            self.seed = 1
        print("移动", time.time())
        logger.info("移动,%s", time.time())
        speed = settings.moveSpeed()
        cmd = 1
        device_id = self.device_name_dict[device_name]
        # if device_id != 1:
        #     print("F非MCU设备，禁止处理")
        #     return
        print("正在执行", device_name)
        logger.info("正在执行 %s", 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
                max_camera_hight = self.camera_height / 10
                # print("高度位置",max_camera_hight)
                if value > max_camera_hight:
                    value = max_camera_hight
                assert 0 <= value <= max_camera_hight
                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)
        logger.info("准备执行,%s %s", 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,
            times,  # 重试次数
            0xff & self.seed >> 8,  # 随机种子
            0xff & self.seed,  # 随机种子
            1 if is_response is True else 0,  # 是否返回内容
        ]
        self.add_send_data_queue(data)
        current_time = time.time()
        self.last_move_time = current_time

    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 check_before_action(self):
        if self.state != 2:
            print("check_before_action 设备正在运行中~")
            logger.info("check_before_action 设备正在运行中~")
            self.sendSocketMessage(code=1, msg="设备正在运行中", device_status=1)
            return False

        if self.mcu_move_state != 2:
            if settings.IS_LIN_SHI_TEST:
                return True
            # self.show_info("mcu 非停止状态")
            self.sendSocketMessage(code=1, msg="mcu 非停止状态", device_status=1)
        return True

    async def controlDevice(self, device_name, value):
        """控制设备移动等"""
        await asyncio.sleep(0.01)
        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 if settings.IS_DEBUG == "true" else 0
        is_deviation = 0 if settings.IS_DEBUG == "true" else 1
        print("控制设备==>_is_debug", _is_debug)
        logger.info("控制设备==>_is_debug %s", _is_debug)
        match device_name:
            case "camera_high_motor":
                # 相机电机
                print(device_name, value)
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "camera_steering":
                print(device_name, value)
                # 相机舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "turntable_steering":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "turntable_position_motor":
                # 转盘舵机
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
                self.to_device_move(
                    device_name=device_name,
                    value=float(value),
                )
            case "overturn_steering":
                # 翻板舵机中位
                self.to_deal_device(
                    device_name="overturn_steering",
                )
            case "laser_position":
                self.to_deal_device(
                    device_name="laser_position", value=0 if int(value) <= 0 else 1
                )
            case "take_picture":
                # loop = asyncio.get_event_loop()
                # if value>0:
                #     # 指定自动对焦
                #     loop.create_task(
                #         self.smart_shooter.CameraAutofocus(),
                #         name="CameraAutofocus",
                #     )
                # 拍照
                await self.smart_shooter.CameraShooter(msg_type="run_mcu")
            case "to_deal_device":
                self.to_deal_device(device_name, value=value, _type=0, times=1)
            case _:
                pass

    def checkDevice(self):
        print("检查设备是否运行中")
        logger.info("检查设备是否运行中")
        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 self.init_state is not True:
            self.sendSocketMessage(code=1, msg="mcu设备未初始化", device_status=4)
            return False
        if self.action_state != 2:
            self.sendSocketMessage(
                code=1,
                msg="当前有未完成的任务，请稍后再试",
                device_status=0,
            )
            return False

    async def run_mcu_config(
            self, config_list, goods_art_no, action_info, smart_shooter
    ):
        if self.checkDevice() == False:
            return
        image_counts = 0
        if config_list:
            action_names = []
            record_ids = []
            if len(config_list) > 1:
                if config_list[-1]["take_picture"] is True:
                    new_init_config = copy.copy(config_list[0])
                    new_init_config["action_name"] = "移动到初始位"
                    new_init_config["number_focus"] = 0
                    new_init_config["take_picture"] = False
                    new_init_config["shoe_upturn"] = False
                    new_init_config["pre_delay"] = 0.0
                    new_init_config["after_delay"] = 0.0
                    # new_init_config["point_name"] = "A"
                    new_init_config["is_move_device"] = True
                    new_init_config["led_switch"] = True
                    new_init_config["turntable_angle"] = 0.0
                    new_init_config["is_wait"] = False
                    new_init_config["is_need_confirm"] = False
                    config_list.append(new_init_config)
            for idx, item in enumerate(config_list):
                is_take_picture = item["take_picture"]
                action_id = item["id"]
                record_id = -1
                if is_take_picture:
                    image_counts += 1
                    # 批量插入
                    image_deal_mode = 0 if action_info == "执行左脚程序" else 1
                    state, record_id = await insert_photo_records(
                        image_deal_mode=image_deal_mode,
                        goods_art_no=goods_art_no,
                        image_index=idx,
                        action_id=action_id,
                    )
                config_list[idx]["record_id"] = record_id
            total_len = len(config_list)
            self.action_state = 1
            self.msg_type = "image_process"
            self.sendSocketMessage(
                code=0,
                msg="MCU 命令已发送完成",
                device_status=2,
                data={
                    "goods_art_no": goods_art_no,
                    "image_counts": image_counts,
                    "action_names": action_names,
                    "current_time": datetime.datetime.now(settings.TIME_ZONE).strftime(
                        "%Y-%m-%d %H:%M:%S"
                    ),
                },
            )
            await self.controlDevice("laser_position", 0)
            # await smart_shooter.EnableCameraPreview(
            #         enable_status=True, msg_type="smart_shooter_enable_preview"
            #     )
            self.msg_type = "mcu"
            self.is_runn_action = True
            for index, action in enumerate(config_list):
                # await asyncio.sleep(0.01)
                if self.is_stop_action == True:
                    print("停止命令接收，立即终止")
                    logger.info("停止命令接收，立即终止")
                    break
                # action_is_take_picture = action["take_picture"]
                record_id = action["record_id"]
                image_index = -1
                if record_id == -1:
                    image_index = -1
                else:
                    image_index = index
                program_item = ProgramItem(
                    websocket_manager=self.websocket_manager,
                    action_data=action,
                    mcu=self,
                    goods_art_no=goods_art_no,
                    image_index=image_index,
                    smart_shooter=smart_shooter,
                    record_id=record_id,
                    is_get_mcu_state=True,
                )
                program_item.last_move_time = self.last_move_time
                if self.action_state != 1:
                    # 异常终止
                    print("action异常终止")
                    logger.info("action异常终止")
                    break
                self.msg_type = "photo_take"
                if not await program_item.run(total_len):
                    self.sendSocketMessage(
                        code=1,
                        msg="{} 执行失败~".format(program_item.action_name),
                        data={"goods_art_no": goods_art_no, "id": action_id},
                        device_status=0,
                    )
                    self.to_deal_device(device_name="buzzer", times=3)
                    break
                else:
                    if program_item.action_name == "移动到初始位":
                        self.msg_type = "mcu"
                        break
                    self.sendSocketMessage(
                        code=0,
                        msg="{} 执行完成~".format(program_item.action_name),
                        data={"goods_art_no": goods_art_no, "id": record_id},
                        device_status=2,
                    )
                self.msg_type = "mcu"
                if index == total_len - 1:
                    pass
            if self.is_stop_action == True:
                self.msg_type = "run_mcu_stop"
                self.sendSocketMessage(
                    code=0,
                    msg=f"货号:{goods_art_no},执行终止",
                    device_status=2,
                )
                self.is_stop_action = False
            self.action_state = 2
            self.is_runn_action = False
            self.msg_type = "photo_take_finish"
            self.sendSocketMessage(
                code=0,
                msg=f"货号:{goods_art_no},执行完成",
                device_status=2,
            )
            self.msg_type = "mcu"
            await self.controlDevice("laser_position", 1)
        self.action_state = 2
        # await smart_shooter.EnableCameraPreview(
        #             enable_status=False, msg_type="smart_shooter_enable_preview"
        #         )

    async def run_mcu_config_single(
            self,
            config_info,
            goods_art_no,
            msg_type="run_mcu_single_finish",
            image_index=-1,
            smart_shooter=None,
            action_id=-1,
    ):
        """独立拍照  仅作测试用"""
        await asyncio.sleep(0.01)
        if self.checkDevice() == False:
            return
        print("检查完成", config_info)
        logger.info("检查完成 %s", config_info)
        if config_info:
            self.action_state = 1
            self.msg_type = "mcu"
            program_item = ProgramItem(
                websocket_manager=self.websocket_manager,
                action_data=config_info,
                mcu=self,
                goods_art_no=goods_art_no,
                image_index=image_index,
                smart_shooter=smart_shooter,
                record_id=action_id,
                is_get_mcu_state=False,
            )
            program_item.last_move_time = self.last_move_time
            if self.action_state != 1:
                # 异常终止
                print("action异常终止")
                logger.info("action异常终止")
                return
            program_item.smart_shooter = smart_shooter
            await program_item.run(3)
            self.msg_type = "mcu"
            logger.info(
                "发送 run_mcu_signle消息，{} 执行完成~".format(program_item.action_name)
            )
            self.sendSocketMessage(
                code=0,
                msg="{} 执行完成~".format(program_item.action_name),
                data={"goods_art_no": goods_art_no, "id": action_id},
                device_status=2,
            )
            self.action_state = 2
            self.msg_type = "run_mcu_single"
            logger.info("发送 run_mcu_signle消息执行完成")
            self.sendSocketMessage(
                code=0,
                msg=f"执行完成",
                device_status=2,
            )
            self.msg_type = "mcu"
        else:
            self.sendSocketMessage(
                code=1, msg="未查询到重拍记录得配置信息，请确认", device_status=0
            )
        self.action_state = 2

    async def only_take_photo(self, goods_art_no, image_index, record_id):
        await asyncio.sleep(0.1)
        print("only_take_photo=====>", goods_art_no, image_index, record_id)
        logger.info(
            f"only_take_photo=====> {goods_art_no} {image_index} {record_id}"
        )
        if goods_art_no == "":
            print("only_take_photo 数据查询异常")
            logger.info("only_take_photo 数据查询异常")
            return
        # 关闭led
        self.controlDevice("laser_position", 0)
        program_item = ProgramItem(
            websocket_manager=self.websocket_manager,
            action_data={},
            mcu=self,
            goods_art_no=goods_art_no,
            image_index=image_index,
            record_id=record_id,
        )
        program_item.digicam_take_picture()
        # 打开led
        self.controlDevice("laser_position", 1)


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
    if device_ctrl.is_init_while == True:
        logger.info("mcu 初始化循环已创建，请勿重复创建")
        device_ctrl.sendSocketMessage(
            code=0, msg="mcu 初始化循环已创建，请勿重复创建", data={}
        )
        return
    device_ctrl.is_init_while = True
    """实时检测串口是否连接"""
    while True:
        await asyncio.sleep(1)
        if device_ctrl.mcu_exit:
            break
        ports_dict = device_ctrl.scan_serial_port()
        device_ctrl.temp_ports_dict = ports_dict
        # print("device_ctrl.p_list", device_ctrl.p_list)
        # logger.info("device_ctrl.p_list %s", device_ctrl.p_list)
        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)
            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:
                        flag = await device_ctrl.add_port_by_linkage(_port_name)
                        if not flag:
                            continue
                        device_ctrl.p_list.append(_port_name)
                    except BaseException as e:
                        print("串口不存在{} {}".format(_port_name, e))
                        logger.info("串口不存在{} {}".format(_port_name, e))
    device_ctrl.is_init_while = False
    print("MCU断开连接，已释放")
    logger.info("MCU断开连接，已释放")