import datetime import hashlib import sys import time import requests sys.path.append("..") import uuid import message_pb2 as message import google.protobuf.text_format as tf import http_client import mytool.db_helper.db_operation as spmng MeasureStatu = {"ok": message.MeasureStatu.Value('Measure_OK'), "无数据": message.MeasureStatu.Value('Measure_Empty_Clouds'), "噪声": message.MeasureStatu.Value('Measure_Failture'), "PLC超界": message.MeasureStatu.Value('Measure_Border'), "终端超界": message.MeasureStatu.Value('Measure_Terminal_Border'), "失去连接": message.MeasureStatu.Value('Lidar_Disconnect') } Range_status = {"未超界": message.Range_status.Value('Range_correct'), "前超界": message.Range_status.Value('Range_front'), "后超界": message.Range_status.Value('Range_back'), "左超界": message.Range_status.Value('Range_left'), "右超界": message.Range_status.Value('Range_right'), "底盘超界": message.Range_status.Value('Range_bottom'), "车顶超界": message.Range_status.Value('Range_top'), "车宽超界": message.Range_status.Value('Range_car_width'), "轴距超界": message.Range_status.Value('Range_car_wheelbase'), "左旋转超界": message.Range_status.Value('Range_angle_anti_clock'), "右旋转超界": message.Range_status.Value('Range_angle_clock'), "方向盘未回正": message.Range_status.Value('Range_steering_wheel_nozero'), "车辆移动": message.Range_status.Value('Range_car_moving') } class CommandChecker: def __init__(self, db_config): self.db = spmng.DBOperation(db_config['db_ip'], db_config['db_port'], db_config['db_name'], db_config['db_user'], db_config['db_password']) self._dispatch_statu = {} self._measure_statu = {} def receive_dispatch_statu(self, statu, ex, key): self._dispatch_statu[key] = statu def receive_measure_info(self, statu, ex, key): self._measure_statu[key] = statu # 检查存车指令 def entrance_isOK(self, park_body): # 停车表单 park_table = message.park_table() try: tf.Parse(park_body, park_table) except Exception as e: park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(停车表单错误)" + str(e.args) return park_table # 检查调度状态 dispatch_key = "dispatch_%d_statu_port" % park_table.unit_id if (dispatch_key in self._dispatch_statu) is False or self._dispatch_statu[dispatch_key].timeout(): park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(调度)" return park_table # 获取车高信息 dispatch_node_statu = message.dispatch_node_statu() try: tf.Parse(self._dispatch_statu[dispatch_key].statu, dispatch_node_statu) except Exception: park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(调度状态消息错误)" return park_table # 判断搬运器状态 if dispatch_node_statu.plc_carrier_status == 0: park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(搬运器)" return park_table dispatch_plc_passway_status = dispatch_node_statu.dispatch_plc_passway_status_vector[park_table.import_id - 1] # 检查入口状态 if dispatch_node_statu.plc_carrier_status == 4 or dispatch_plc_passway_status.plc_passway_enable == 2: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "该单元设备维护中!请前往其他入口！" return park_table if dispatch_plc_passway_status.car_height == 0: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "未检测到车辆!" return park_table elif dispatch_plc_passway_status.car_height == 4: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "车辆超高，请退出车库!" return park_table sensor_1 = dispatch_plc_passway_status.sensor_1 # if (sensor_1 >> 2) & 0x01 != 1: # park_table.statu.execute_statu = message.eWarning # park_table.statu.statu_description = "车辆超限，请联系现场工作人员！" # return park_table if (sensor_1 >> 3) & 0x01 != 1: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "车辆后超界，请往前！" return park_table if (sensor_1 >> 4) & 0x01 != 1: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "车辆前超界，请往后！" return park_table # # if (sensor_1 >> 5) & 0x01 != 1: # park_table.statu.execute_statu = message.eWarning # park_table.statu.statu_description = "车辆左超界，请往右！" # return park_table # # if (sensor_1 >> 6) & 0x01 != 1: # park_table.statu.execute_statu = message.eWarning # park_table.statu.statu_description = "车辆右超界，请往左！" # return park_table measure_buffer = message.measure_buffer() measure_info_to_terminal = message.measure_info() measure_info_to_plc_reverse = message.measure_info() measure_info_to_plc_forward = message.measure_info() measure_key = "measure_%d_statu_port" % park_table.terminal_id if (measure_key in self._measure_statu) is False or self._measure_statu[measure_key].timeout(): park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(雷达)" return park_table # 获取车高信息 try: tf.Parse(self._measure_statu[measure_key].statu, measure_buffer) measure_info_to_terminal.CopyFrom(measure_buffer.measure_info_to_terminal) measure_info_to_plc_reverse.CopyFrom(measure_buffer.measure_info_to_plc_reverse) measure_info_to_plc_forward.CopyFrom(measure_buffer.measure_info_to_plc_forward) except Exception: park_table.statu.execute_statu = message.eError park_table.statu.statu_description = "设备故障，请联系管理员!" + "(雷达状态消息错误)" return park_table # 获取雷达信息 tm = time.time() while time.time() - tm < 2: park_table.entrance_measure_info.CopyFrom(measure_buffer) # 没有超界。车为静止状态。 # if measure_info.border_statu == MeasureStatu["ok"] and measure_info.ground_status == 0 and measure_info.motion_statu == 1: if measure_info_to_terminal.border_statu == Range_status["未超界"] and \ measure_info_to_terminal.ground_status == MeasureStatu["ok"] and \ measure_info_to_plc_reverse.border_statu == Range_status["未超界"] and \ measure_info_to_plc_reverse.ground_status == MeasureStatu["ok"] and \ measure_info_to_plc_forward.border_statu == Range_status["未超界"] and \ measure_info_to_plc_forward.ground_status == MeasureStatu["ok"]: park_table.statu.execute_statu = message.eNormal break else: park_table.statu.execute_statu = message.eError if self._measure_statu[measure_key].statu is not None and self._measure_statu[ measure_key].timeout() is False: try: measure_buffer = message.measure_buffer() measure_info_to_terminal = message.measure_info() tf.Parse(self._measure_statu[measure_key].statu, measure_buffer) measure_info_to_terminal.CopyFrom(measure_buffer.measure_info_to_terminal) measure_info_to_plc_reverse.CopyFrom(measure_buffer.measure_info_to_plc_reverse) measure_info_to_plc_forward.CopyFrom(measure_buffer.measure_info_to_plc_forward) # print("check measure info again:", measure_info) except: print("parse exception:\n" + self._measure_statu[measure_key].statu) time.sleep(0.1) if park_table.statu.execute_statu == message.eError: if measure_info_to_terminal.ground_status == MeasureStatu["ok"] or \ measure_info_to_plc_reverse.ground_status == MeasureStatu["ok"] or \ measure_info_to_plc_forward.ground_status == MeasureStatu["ok"]: park_table.statu.statu_description = "雷达状态异常！" elif measure_info_to_terminal.ground_status == MeasureStatu["终端超界"] or \ measure_info_to_plc_reverse.ground_status == MeasureStatu["PLC超界"] or \ measure_info_to_plc_forward.ground_status == MeasureStatu["PLC超界"]: park_table.statu.statu_description = "请按提示调整！" elif measure_info_to_terminal.ground_status == MeasureStatu["失去连接"] or \ measure_info_to_plc_reverse.ground_status == MeasureStatu["失去连接"] or \ measure_info_to_plc_forward.ground_status == MeasureStatu["失去连接"]: park_table.statu.statu_description = "设备故障，请联系管理员! (雷达)" else: park_table.statu.statu_description = "请检查库内是否有异物！" print(" MeasureInfo:\n " + tf.MessageToString(measure_info_to_terminal, as_utf8=True)) return park_table # 填写车高信息 height = dispatch_plc_passway_status.car_height # 赋值唯一码 uid = str(uuid.uuid1()) park_table.primary_key = uid # 查询黑名单 print("--------------查询黑名单---------------" + str(datetime.datetime.now())) blacklist_res = self.db.query_blacklist_in_car_number(park_table.car_number) blacklist_count = len(blacklist_res) if blacklist_count > 0: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "车辆 :%s 已在黑名单，不允许存车!" % park_table.car_number return park_table # 查询车位表和指令表是否有该车 print("--------------查询车位表---------------" + str(datetime.datetime.now())) space_res = self.db.query_space_in_car_number(park_table.car_number) space_count = len(space_res) if space_count > 0: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "车辆 :%s 已在库内!" % park_table.car_number return park_table print("--------------查询指令表---------------" + str(datetime.datetime.now())) command_res = self.db.query_command_in_car_number(park_table.car_number) command_count = len(command_res) if command_count > 0: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "指令正在执行中！请稍等！" return park_table # 车辆不在库内 查询是否有对应大小空车位 print("--------------查询空车位---------------" + str(datetime.datetime.now())) space_empty_res = self.db.query_space_in_height_level_wheel_base_unit_and_empty(height, measure_info_to_terminal.wheelbase, park_table.unit_id) space_empty_count = len(space_empty_res) if space_empty_count <= 0: park_table.statu.execute_statu = message.eWarning park_table.statu.statu_description = "没有空余的合适车位,车牌号:%s 高度等级:%d 轴距:%.3fm!" % ( park_table.car_number, height, measure_info_to_terminal.wheelbase) return park_table # 检查取车指令 def exit_isOK(self, pick_body): pick_table = message.pick_table() try: tf.Parse(pick_body, pick_table) except Exception as e: pick_table.statu.execute_statu = message.eError pick_table.statu.statu_description = "设备故障，请联系管理员!" + "(取车表单错误)" + str(e.args) return pick_table if pick_table.primary_key is None or pick_table.primary_key == '': pick_table.statu.execute_statu = message.eWarning pick_table.statu.statu_description = " 唯一码不能为空！" else: # 查询车位表和指令表是否有该车 print("**************查询车位表**************" + str(datetime.datetime.now())) space_res = self.db.query_space_in_primary_key(pick_table.primary_key) space_count = len(space_res) print("**************查询停车指令表**************" + str(datetime.datetime.now())) command_res_park = self.db.query_park_command_in_primary_key(pick_table.primary_key) command_count_park = len(command_res_park) if space_count <= 0 and command_count_park <= 0: pick_table.statu.execute_statu = message.eWarning pick_table.statu.statu_description = "车辆信息不存在!" return pick_table print("**************查询取车指令表**************" + str(datetime.datetime.now())) command_res = self.db.query_pick_command_in_primary_key(pick_table.primary_key) command_count = len(command_res) if command_count > 0: pick_table.unit_id = space_res[0]['unit'] t_unit_str = self.get_unit_str(pick_table.unit_id) # 重复取车，提示成功，流程失败！ pick_table.statu.execute_statu = message.eWarning pick_table.statu.statu_description = "取车成功！请前往 << %s >> 单元出口等待车辆，观看大屏幕提示取车！" % t_unit_str return pick_table unit_str = self.get_unit_str(pick_table.unit_id) pick_table.statu.execute_statu = message.eNormal pick_table.statu.statu_description = "取车成功，请前往 << %s >> 单元出口等待车辆，观看大屏幕提示取车！" % unit_str # 完善表单信息 try: try: pick_table.car_number = space_res[0]['car_number'] pick_table.unit_id = space_res[0]['unit'] except Exception as e: pick_table.car_number = command_res_park[0]['car_number'] pick_table.unit_id = command_res_park[0]['unit'] print("车位表未找到，使用指令表结果") pick_table.car_number_info.plate_color = space_res[0]['plate_color'] pick_table.car_number_info.plate_type = space_res[0]['plate_type'] pick_table.car_number_info.plate_confidence = space_res[0]['plate_confidence'] pick_table.car_number_info.recognition_time = space_res[0]['recognition_time'] pick_table.car_number_info.plate_full_image = '' pick_table.car_number_info.plate_clip_image = '' except Exception as e: print("数据库信息不全，缺失号牌颜色等信息！") return pick_table def get_unit_str(self, unit): if unit == 11: return 'A1' elif unit == 12: return 'A2' elif unit == 13: return 'A3' elif unit == 14: return 'A4' elif unit == 21: return 'B1' elif unit == 22: return 'B2' elif unit == 23: return 'B3' elif unit == 24: return 'B4' elif unit == 25: return 'B5' elif unit == 31: return 'C1' elif unit == 32: return 'C2' elif unit == 1: return 'A' elif unit == 2: return 'B' elif unit == 3: return 'C' return ''