Project/指令检查节点/check_command_GyBhhy.py

import sys
sys.path.append("..")
import threading
import time
import async_communication as CM
import uuid
import message_pb2 as message
import google.protobuf.text_format as tf
MeasureStatu={"ok":0,"无数据":1,"噪声":2,"超界":3}
ArrowType={0:"正确图片",0x01:"向后调整",0x02:"向前调整",0x04:"向右调整",0x08:"向左调整"
           ,0x10:"左前调整",0x06:"右前调整",0x09:"右后调整",0x05:"左后调整"}


class CommandChecker(threading.Thread):
    def __init__(self,db):
        threading.Thread.__init__(self)
        self._db = db
        self._dispatch_statu = CM.TimeStatu(timeout=0.1)
        self._measure_statu = CM.TimeStatu(timeout=0.1)
        self._plate_color = {'蓝色':'1','黑色':'2','黄色':'3','白色':'4','绿色':'5','其他':'6'}
        self.is_close = False

    def receive_dispatch_statu(self, statu, ex, key):
        self._dispatch_statu = statu
    def receive_measureInfo(self,statu, ex, key):
        self._measure_statu = statu

    def stop(self):
        self.is_close = True
    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
            space_res = self._db.query_space_in_primary_key(pick_table.primary_key)
            command_res = self._db.query_command_in_primary_key(pick_table.primary_key)
            if len(command_res) > 0:
                pick_table.statu.execute_statu = message.eWarning
                pick_table.statu.statu_description = "指令正在执行中！请稍等！"
            elif len(space_res) <= 0:
                pick_table.statu.execute_statu = message.eWarning
                pick_table.statu.statu_description = "车辆信息不存在!"

        return pick_table


    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
        key = "dispatch_%d_statu_port" % park_table.unit_id
        if (key in self._dispatch_statu) is False or self._dispatch_statu[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
        key = "measure_%d_statu_port" % park_table.unit_id
        if (key in self._measure_statu) is False or self._measure_statu[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
        dispatch_node_statu = message.dispatch_node_statu()
        try:
            tf.Parse(self._dispatch_statu[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

        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
        elif dispatch_node_statu.plc_carrier_status == 4:
            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

        car_height = dispatch_node_statu.dispatch_plc_passway_status_vector[park_table.import_id - 1].car_height
        if 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 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
        # 填写车高信息
        measure_info = message.measure_info()
        measure_info.height = car_height
        park_table.entrance_measure_info.CopyFrom(measure_info)
        # 赋值唯一码
        uid = str(uuid.uuid1())
        park_table.primary_key = uid
        # 查询车位表和指令表是否有该车
        space_res = self._db.query_space_in_car_number(park_table.car_number)
        command_res = self._db.query_command_in_car_number(park_table.car_number)
        if len(command_res) > 0:
            park_table.statu.execute_statu = message.eWarning
            park_table.statu.statu_description = "指令正在执行中！请稍等！"

        elif len(space_res) > 0:
            park_table.statu.execute_statu = message.eWarning
            park_table.statu.statu_description = "车辆 :%s 已在库内!" % park_table.car_number

        else:
            # 车辆不在库内  查询是否有对应大小空车位
            space_res = self._db.query_space_in_height_unit_and_empty(measure_info.height, park_table.unit_id)
            command_res = self._db.query_command_in_height_unit_and_statu(measure_info.height, park_table.unit_id)
            if len(space_res) - len(command_res) <= 0:
                park_table.statu.execute_statu = message.eWarning
                park_table.statu.statu_description = "没有空余车位,车牌号:%s 高度:%.3fm!" % (park_table.car_number, measure_info.height)
        return park_table

    def run(self):
        while self.is_close is False:
            # print(self.error_str)
            time.sleep(0.05)
            # 先判断连接状态
            if self._dispatch_statu.timeout():
                self.error_str = "服务器超时，请联系管理员！"
                continue
            if self.measure_statu.timeout():
                self.error_str = '服务器超时，请联系管理员！'
                continue
            # 有车才显示
            icpu_statu = message.in_mcpu_statu()
            try:
                tf.Parse(self.icpu_statu.statu, icpu_statu)
            except:
                print(self.icpu_statu.statu)
                continue

            if icpu_statu.heighth == 1:
                self.error_str = '未知车高!'
                continue

            if icpu_statu.heighth == 5:
                self.error_str = '车辆超高!'
                continue
            # 以下是有车的处理
            # 1,显示测量数据（实时和静态）
            measure_info = message.measure_info()
            tf.Parse(self.measure_statu.statu, measure_info)

            # 2,获取车辆运动状态（静止or动态）
            border_statu = measure_info.border_statu
            is_moving = ((border_statu >> 11) & 0x01) == 1
            lidar_statu = measure_info.ground_status  # 测量状态（正常,无数据、噪声、超界）
            if is_moving:
                self.last_moving_statu = None
            else:
                # 当前静止
                if lidar_statu == MeasureStatu["ok"]:
                    self.last_moving_statu = measure_info
                elif lidar_statu == MeasureStatu["超界"]:
                    if not self.last_moving_statu == None:
                        # 上一刻静止且数据正确，当前静止，不可能出现超界，将超界清除
                        new_border = border_statu
                        new_border = (new_border & (~(0x01 << 0)))
                        new_border = (new_border & (~(0x01 << 1)))
                        new_border = (new_border & (~(0x01 << 2)))
                        new_border = (new_border & (~(0x01 << 3)))
                        new_border = (new_border & (~(0x01 << 6)))
                        new_border = (new_border & (~(0x01 << 7)))
                        new_border = (new_border & (~(0x01 << 8)))
                        new_border = (new_border & (~(0x01 << 9)))
                        border_statu = new_border
                elif lidar_statu == MeasureStatu["无数据"]:
                    # 当前静止无车，清除上一时刻数据
                    self.last_moving_statu = None
                elif lidar_statu == MeasureStatu["噪声"]:
                    if not self.last_moving_statu == None:
                        # 上一时刻静止且正确，当前噪声，不显示当前数据，显示上一正确数据
                        measure_info.CopyFrom(self.last_moving_statu)
            # 先判断光电
            if is_moving:
                if icpu_statu.back_io == 1:
                    self.error_str = '请按提示调整!'
                    self.last_show = "调整"
                    continue

            # 光电正常
            if lidar_statu == MeasureStatu["无数据"] and icpu_statu.is_occupy != 2:
                self.error_str = '无车！'
                self.last_show = "空闲"
                continue
            elif lidar_statu == MeasureStatu["噪声"]:
                if self.last_show == "超时":
                    self.error_str = '雷达噪声'
                    self.last_show = "空闲"
                continue
            elif lidar_statu == MeasureStatu["ok"]:
                self.error_str = 'OK'
                continue
            elif lidar_statu == MeasureStatu["超界"]:
                if (border_statu >> 7) & 0x01 == 1:
                    self.error_str = '轴距不满足规格，请驶出！'
                    self.last_show = "轴距超差"
                    continue
                if (border_statu >> 9) & 0x01 == 1:
                    self.error_str = '请按提示调整!'
                    self.last_show = "请调整"
                    continue
                if (border_statu >> 8) & 0x01 == 1:
                    self.error_str = '请按提示调整!'
                    self.last_show = "请调整"
                    continue
                if (border_statu >> 10) & 0x01 == 1:
                    self.error_str = '请按提示调整!'
                    self.last_show = "请调整"
                    continue
                if (border_statu >> 6) & 0x01 == 1:
                    self.error_str = '车宽不满足规格，请驶出！'
                    self.last_show = "超宽"
                    continue
                border = border_statu & 0x0f
                if (border in ArrowType.keys()) is False:
                    self.error_str = '服务器超时，请联系管理员！'
                    self.last_show = "超时"
                else:
                    if ArrowType[border] == "正确图片":
                        self.error_str = "OK"
                        self.last_show = "正确"
                    else:
                        self.error_str = "请按提示调整"
                        self.last_show = "请调整"