CT_project/指令检查节点/CheckCommand.py

import message_pb2 as message
import google.protobuf.text_format as tf
from async_communication import rabbit_async_communicator as g_rabbitmq


MeasureStatu={"ok":0,"无数据":1,"噪声":2,"超界":3}
class CheckCommand():
    def check_park_command(self, msg):
        park = message.park_table()
        tf.Parse(msg, park)
        unit_id = park.unit_id
        terminal_id = park.terminal_id
        measure_key="statu_ex:measure_%d_statu_port"% terminal_id
        in_mcpu_key="statu_ex:in_mcpu_%d_statu_port"% terminal_id
        dispatch_key="statu_ex:dispatch_%d_statu_port"% unit_id

        measure_results = self.check_measure_statu(measure_key)
        in_mcpu_results = self.check_in_mcpu_statu(in_mcpu_key)
        dispatch_results = self.check_dispatch_node_statu(dispatch_key)
        if measure_results is True and in_mcpu_results is True and dispatch_results is True:
            measure_statu = message.measure_info()
            tf.Parse(g_rabbitmq[measure_key].statu,measure_statu)
            park.entrance_measure_info.CopyFrom(measure_statu)
            park.entrance_measure_info.height = self.get_height(in_mcpu_key)
            return tf.MessageToString(park, as_utf8=True)
        else:
            park.statu.execute_statu = message.eError
            park.statu.statu_description = ""
            if measure_results is not True:
                park.statu.statu_description = park.statu.statu_description + measure_results + " "
            if in_mcpu_results is not True:
                park.statu.statu_description = park.statu.statu_description + in_mcpu_results + " "
            if dispatch_results is not True:
                park.statu.statu_description = park.statu.statu_description + dispatch_results + " "
            return tf.MessageToString(park, as_utf8=True)

    def check_pick_command(self, msg):
        pick = message.park_table()
        tf.Parse(msg, pick)
        if pick.primary_key is not None:
            return tf.MessageToString(pick, as_utf8=True)
            
        unit_id = pick.unit_id
        if pick.primary_key is None:
            pick.statu.execute_statu = message.eError
            pick.statu.statu_description = " 唯一码不能为空！"
            return tf.MessageToString(pick, as_utf8=True)
        results = self.check_dispatch_node_statu(unit_id)
        if results is not True:
            pick.statu.execute_statu = message.eError
            pick.statu.statu_description = " 调度状态错误！"
            return tf.MessageToString(pick, as_utf8=True)
        return tf.MessageToString(pick, as_utf8=True)

    def check_measure_statu(self, key):
        if g_rabbitmq[key].statu is not None and g_rabbitmq[key].timeout() is False:
            # if 0.85 > self.measure_info[index].theta or self.measure_info[index].theta> 0.95:
            #     return "角度偏差较大！"

            measure_info = message.measure_info()
            tf.Parse(g_rabbitmq[key].statu,measure_info)
            border_statu = measure_info.border_statu
            lidar_statu=measure_info.ground_status  # 测量状态（正常,无数据、噪声、超界）
            if lidar_statu==MeasureStatu["ok"] :
                return True
            else:
                return "请根据提示操作！"


            #检测雷达超界信息
            # if (((border_statu >> 0) & 0x01) > 0):
            #     results = results + "前超界！"
            # if (((border_statu >> 1) & 0x01) > 0):
            #     results = results + "后超界！"
            # if (((border_statu >> 2) & 0x01) > 0):
            #     results = results + "左超界！"
            # if (((border_statu >> 3) & 0x01) > 0):
            #     results = results + "右超界！"
            # if (((border_statu >> 6) & 0x01) > 0):
            #     results = results + "车辆超宽！"
            # if (((border_statu >> 7) & 0x01) > 0):
            #     results = results + "轴距超差！"
            # if (((border_statu >> 8) & 0x01) > 0) or ((border_statu >> 9) & 0x01):
            #     results = results + "方向盘未回正！"
            # if results == "" :
            #     return True
            # else:
            #     return results
        else:
            return "设备故障！"

    def check_in_mcpu_statu(self, key):
        if g_rabbitmq[key].statu is not None and g_rabbitmq[key].timeout() is False:
            im_mcpu_statu = message.in_mcpu_statu()
            tf.Parse(g_rabbitmq[key].statu,im_mcpu_statu)
            results = ""
            if im_mcpu_statu.back_io != 2:
                results = results + "车辆后超界！"
            if im_mcpu_statu.is_occupy != 2:
                results = results + "库位无车！"
            if im_mcpu_statu.heighth == 1:
                results = results + "未知车高！"
            if im_mcpu_statu.heighth == 5:
                results = results + "车辆超高！"
            if results == "" :
                return True
            else:
                return results
        else:
            return "设备故障！"

    def check_dispatch_node_statu(self, key):
        if g_rabbitmq[key].statu is not None and \
                g_rabbitmq[key].timeout() is False:
            dispatch_node_statu = message.dispatch_node_statu()
            tf.Parse(g_rabbitmq[key].statu,dispatch_node_statu)
            if dispatch_node_statu.statu != message.eFault:
                return True
        return "设备故障！"
    def get_height(self, in_mcpu_key):
        im_mcpu_statu = message.in_mcpu_statu()
        tf.Parse(g_rabbitmq[in_mcpu_key].statu,im_mcpu_statu)
        if im_mcpu_statu.heighth == 2:
            return 1.50
        elif im_mcpu_statu.heighth == 3:
            return 1.70
        elif im_mcpu_statu.heighth == 4:
            return 1.90


check_command = CheckCommand()