CT_project/指令检查节点/CheckEntrance.py

import threading
import time

import async_communication as CM
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 EntranceChecker(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.icpu_statu = CM.TimeStatu(timeout=0.1)
        self.measure_statu = CM.TimeStatu(timeout=0.1)

        self.last_door_statu=None
        self.last_moving_statu = None
        self.last_show = None
        self.lock = threading.Lock()
        self.error_str=""

        self.is_close = False

    def receive_icpu(self,statu):
        self.icpu_statu=statu
    def receive_measureInfo(self,statu):
        self.measure_statu=statu

    def exit_isOK(self, pick_table):
        if pick_table.primary_key is None:
            pick_table.statu.execute_statu = message.eError
            pick_table.statu.statu_description = " 唯一码不能为空！"
            return tf.MessageToString(pick_table, as_utf8=True)
        return tf.MessageToString(pick_table, as_utf8=True)

    def entrance_isOK(self,park_table):

        measure_info = message.measure_info()
        tf.Parse(self.measure_statu.statu, measure_info)
        park = message.park_table()
        park.CopyFrom(park_table)



        if self.error_str == 'OK' and (measure_info.border_statu == MeasureStatu["ok"] or  measure_info.border_statu == MeasureStatu["超界"]):
            park.statu.execute_statu = message.eNormal
            park.statu.statu_description = self.error_str
            if measure_info.border_statu == MeasureStatu["ok"]:
                park.entrance_measure_info.CopyFrom(measure_info)
            elif measure_info.border_statu == MeasureStatu["超界"]:
                park.entrance_measure_info.CopyFrom(self.last_moving_statu)
            im_mcpu_statu = message.in_mcpu_statu()
            tf.Parse(self.icpu_statu.statu, im_mcpu_statu)
            if im_mcpu_statu.heighth == 2:
                park.entrance_measure_info.height = 1.50
            elif im_mcpu_statu.heighth == 3:
                park.entrance_measure_info.height = 1.70
            elif im_mcpu_statu.heighth == 4:
                park.entrance_measure_info.height = 1.90
            return tf.MessageToString(park, as_utf8=True)
        else:
            park.statu.execute_statu = message.eError
            if self.error_str == 'OK':
            	park.statu.statu_description = "测量异常，请重新点击存车按钮!"
            else:
            	park.statu.statu_description = self.error_str
            return tf.MessageToString(park, as_utf8=True)

    def run(self):
        while self.is_close is False:
            time.sleep(0.05)
            #先判断连接状态
            if self.icpu_statu.timeout():
                self.error_str="传感器未连接"
                continue
            if self.measure_statu.timeout():
                self.error_str='测绘超时'
                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（后超界）'
                    self.last_show="调整"
                    continue

            #光电正常
            if lidar_statu==MeasureStatu["无数据"]:
                self.error_str='请按提示调整(雷达无数据)'
                self.last_show="空闲"
                continue
            elif lidar_statu==MeasureStatu["噪声"]:
                if self.last_show=="超时":
                    self.error_str='请按提示调整(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='轴距超差'
                    self.last_show="轴距超差"
                    continue
                if (border_statu>>9)&0x01==1:
                    self.error_str='请按提示调整(向左)'
                    self.last_show="请调整"
                    continue
                if (border_statu>>8)&0x01==1:
                    self.error_str='请按提示调整(向右)'
                    self.last_show="请调整"
                    continue
                if (border_statu>>10)&0x01==1:
                    self.error_str='请按提示调整(方向盘)'
                    self.last_show="请调整"
                    continue
                if (border_statu>>6)&0x01==1:
                    self.error_str='超宽车辆'
                    self.last_show="超宽"
                    continue
                border=border_statu&0x0f


                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"