CT_project/出口单片机节点/ExportIO.py

import json
import message_pb2 as message
import google.protobuf.text_format as tf
import queue
import time
import asyncio
import async_communication as ASC
import threading
'''
单片机状态，2表示门已经关闭
'''

class ExportIO(threading.Thread):
    def __init__(self,parameter,rabbitmq_parameter):
        threading.Thread.__init__(self)
        self._unit,self._id,self._ip,self._port=parameter
        self._close=False
        self._latest_iomsg=None
        self._last_user_table = None

        self._send_queue=queue.Queue()

        self._last_statucall_time=time.time()
        self._user_leave_callback=None
        self._last_table=None

        self._open_door_flag = False


        self._rabbit_mq=ASC.RabbitAsyncCommunicator(rabbitmq_parameter["ip"],rabbitmq_parameter["port"],
                                                    rabbitmq_parameter['user'],rabbitmq_parameter['password'])


        #消费关门消息
        self._rabbit_mq.Init(None, None)
        self._rabbit_mq.start()

    def SetUserLeaveCallback(self,callback):
        self._user_leave_callback=callback

    def close(self):
        self._close=True
        self._rabbit_mq.close()
        self.join()

    def export_idle(self):
        if self._latest_iomsg==None:
            return False
        else:
            return self._latest_iomsg.outside_safety==1

    #open_door 函数，负责修改开门任务标记，只要数据库查到了，就把_open_door_flag修改为true
    #open_door 函数被node_py的主函数调用，不要做太多的事，剩余的开门控制和数据库清理，交给open_door_loop
    def open_door(self,table):
        self._open_door_flag = True
        return

    async def open_door_loop(self):
        while self._close==False:
            try:
                if (self._latest_iomsg is not None) and self._open_door_flag == True:
                    #门不是开状态，那么就发送开门，无论里面是否有车
                    if self._latest_iomsg.door_statu != 2:
                        print(" 出口编号：%d ， 执行开门  " % (self._id))
                        opencmd = "{\"TerminalID\": %d, \"DispatchDirection\": 2, \"OutPutDo\": {\"Do0\": 0, \"Do1\": 0, \"Do2\": 0,\"Do3\": 0,\"Do4\": 0, \"Do5\": 0, \"Do6\": 0, \"Do7\": 0}, \"ProcessControl\": 4}" % (
                                    self._id - 1)
                        print(opencmd)
                        self._send_queue.put(opencmd)
                        print(" opendoor queue size:%d"%self._send_queue.qsize())
                        await asyncio.sleep(3)
                    #如果门开到位，则检查汽车是否离开，如果没车就删库，清除flag, 注意了， 在汽车离开3秒后，由单片机底层自动关门，我们不用管
                    elif self._latest_iomsg.outside_safety == 1:
                        if not self._user_leave_callback == None:
                            self._user_leave_callback(self._id)
                            self._open_door_flag = False
                    #else  无限等待，什么也不做，  等待汽车离开

            except:
                pass
            await asyncio.sleep(0)


    async def connect(self):
        print("Trying to connect {}:{}".format(self._ip, self._port))
        while self._close == False:
            try:
                reader, writer = await asyncio.open_connection(
                    self._ip, self._port
                )
                break
            except Exception as e:
                print("Failed to connect {} {}: {}".format(self._ip, self._port, e))
                await asyncio.sleep(3)
        print("Connected to {}:{}".format(self._ip, self._port))
        return reader, writer
    async def recv_loop(self):
        while self._close==False:
            try:
                recieve=await self._reader.readuntil(b'$')
            except Exception as e:
                print("  e: {}".format(e))
                self._reader,self._writer=await self.connect()
                await asyncio.sleep(0.001)
                continue
                #socket.ConnectionResetError:
            # print(recieve)

            start_index = recieve.find(b'@')
            end_index = recieve.find(b'$')
            if start_index >= 0 and end_index >= 0 and end_index >=start_index:
                bytes = recieve[start_index + 4:end_index]
                self._latest_iomsg =self.recieve2message(bytes)
                if (not self._rabbit_mq == None) and (not self._latest_iomsg == None):
                    if self._latest_iomsg.outside_safety == 0 or self._latest_iomsg.door_statu == 0:
                        continue
                    else:
                        ex_name = "statu_ex"
                        key = "out_mcpu_%d_statu_port" % self._id
                        self._rabbit_mq.publish(ex_name, key, tf.MessageToString(self._latest_iomsg, as_utf8=True))
            else:
                print(" start_index = %s"%start_index)
                print("end_index = %s"%end_index)
                print("WARNING : mcpu recieve format error , time = %s"%time.time())
                print("  recieve = " + str(recieve))
                await asyncio.sleep(0)

                continue

            await asyncio.sleep(0)

    async def send_loop(self):
        while self._close == False:
            try:
                if self._send_queue.qsize() > 0:
                    print("给单片机发送指令 size:%d" % self._send_queue.qsize())
                    msg = self._send_queue.get(False)
                    if not msg == None:
                        self._writer.write(msg.encode())
                        await self._writer.drain()
            except Exception as e:
                print(" send error :{}".format(e))
                self._reader, self._writer = await self.connect()
            await asyncio.sleep(0)
            time.sleep(0.001)
    async def main(self):
        self._reader,self._writer=await self.connect()
        await asyncio.gather(self.recv_loop(),self.send_loop(),self.open_door_loop())
    def run(self):
        asyncio.run(self.main())

    def recieve2message(self,bytes):
        try:
            data=json.loads(bytes)
        except:
            print("tf json load error  ")
            return None
        statu_msg=message.out_mcpu_statu()

        if 'InsideExistenceFlag' in data.keys():
            statu_msg.outside_safety = data['InsideExistenceFlag'] + 1
        else:
            statu_msg.outside_safety = 0

        if 'OutsideDoorStatus' in data.keys():
            statu_msg.door_statu = data["OutsideDoorStatus"] + 1  # 1 k  2g 3 running
        else:
            statu_msg.door_statu = 0

        return statu_msg