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@@ -20,110 +20,15 @@ class MessageListener(object):
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"""
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last_log_key = str()
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- @staticmethod
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- def method_v001(client, userdata, message):
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- """消息处理方法"""
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- # --- log ---
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- # print(f'MessageListener24: #message.payload: {message.payload}', flush=True)
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- # methods.debug_log(f"MessageListener24", f"#message.payload: {message.payload}")
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-
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- # --- check ---
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- # if not methods.is_dir(save_dir):
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- # out = methods.run_command(f'mkdir -p {save_dir}', callback=True)
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- # methods.debug_log('MessageListener46', f"#out: {out}")
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-
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- # --- save log ---
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- file_name = methods.now_string('v001-%Y-%m-%d-%H.log')
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- log_file_path = os.path.join(save_dir, file_name)
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- log_dict = json.loads(message.payload)
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- log_list = [
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-
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- f"timestamp: {methods.ts_to_string(int(log_dict.get('timestamp')) / 1000)}", # 时间
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- f"userID: {log_dict.get('userID')}", # 用户id
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- f"VehicleID: {log_dict.get('VehicleID')}", # 车id
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-
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- f"directSwitch: {log_dict.get('baseControl')[0].get('directSwitch')}", # 前后切换
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- f"eStop: {log_dict.get('baseControl')[0].get('eStop')}", # 急停开关
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- f"gearCaontrol: {log_dict.get('baseControl')[0].get('gearCaontrol')}", # 车辆档位控制
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- f"hazardLight: {log_dict.get('baseControl')[0].get('hazardLight')}", # 双闪灯
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- f"keyStatus: {log_dict.get('baseControl')[0].get('keyStatus')}", # 钥匙状态
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- f"parkControl: {log_dict.get('baseControl')[0].get('parkControl')}", # 驻车控制
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- f"silencedAlarm: {log_dict.get('baseControl')[0].get('silencedAlarm')}", # 消报警音按钮
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- f"travelLight: {log_dict.get('baseControl')[0].get('travelLight')}", # 行驶灯光
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- f"travelMode: {log_dict.get('baseControl')[0].get('travelMode')}", # 驾驶模式
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- f"vehicleHorn: {log_dict.get('baseControl')[0].get('vehicleHorn')}", # 喇叭
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-
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- f"accPedalF: {log_dict.get('driveControl')[0].get('accPedal')[0].get('accPedalF')}", # 油门踏板.手油门
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- f"accPedalH: {log_dict.get('driveControl')[0].get('accPedal')[0].get('accPedalH')}", # 油门踏板.脚油门
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-
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- f"accPedalH: {log_dict.get('driveControl')[0].get('brakePedal')}", # 刹车踏板
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- f"steeringWheel: {log_dict.get('driveControl')[0].get('steeringWheel')}", # 方向盘转速
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- f"turnMode: {log_dict.get('driveControl')[0].get('turnMode')}", # 转向模式
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- f"turnSignal: {log_dict.get('driveControl')[0].get('turnSignal')}", # 转向灯
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-
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- f"errAccPedal: {log_dict.get('errCode')[0].get('errAccPedal')}", # 油门信号故障
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- f"errBasOperation: {log_dict.get('errCode')[0].get('errBasOperation')}", # 基本操作故障
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- f"errBrakePedal: {log_dict.get('errCode')[0].get('errBrakePedal')}", # 刹车信号故障
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- f"errEndTool: {log_dict.get('errCode')[0].get('errEndTool')}", # 末端工具控制故障
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- f"errHandle: {log_dict.get('errCode')[0].get('errHandle')}", # 手柄信号故障
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- f"errOther: {log_dict.get('errCode')[0].get('errOther')}", # 其他故障
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- f"errSteeringWheel: {log_dict.get('errCode')[0].get('errSteeringWheel')}", # 转向故障
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-
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- f"baseLegControl: {log_dict.get('taskControl')[0].get('baseLegControl')}", # 支腿动作控制
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- f"baseLegSwitch: {log_dict.get('taskControl')[0].get('baseLegSwitch')}", # 支腿选择开关
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- f"bypassSwitch: {log_dict.get('taskControl')[0].get('bypassSwitch')}", # 旁通开关
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- f"cabLift: {log_dict.get('taskControl')[0].get('cabLift')}", # 驾驶室升降机构
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- f"coopSignal: {log_dict.get('taskControl')[0].get('coopSignal')}", # 协同作业信号
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- f"enableHydraulic: {log_dict.get('taskControl')[0].get('enableHydraulic')}", # 液压使能开关
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- f"endJoint: {log_dict.get('taskControl')[0].get('endJoint')}", # 末端关节控制
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- f"esCabLift: {log_dict.get('taskControl')[0].get('esCabLift')}", # 驾驶室应急下降开关
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- f"suckerSelect: {log_dict.get('taskControl')[0].get('suckerSelect')}", # 吸盘选择开关
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- f"taskJoint_1: {log_dict.get('taskControl')[0].get('taskJoint_1')}", # 第一个作业关节控制
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- f"taskJoint_2: {log_dict.get('taskControl')[0].get('taskJoint_2')}", # 第二个作业关节控制
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- f"taskJoint_3: {log_dict.get('taskControl')[0].get('taskJoint_3')}", # 第三个作业关节控制
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- f"toolControl: {log_dict.get('taskControl')[0].get('toolControl')}", # 末端工具控制
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- f"workLight: {log_dict.get('taskControl')[0].get('workLight')}", # 工作灯
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-
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- ]
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-
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- # --- check ---
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- log_key = '-'.join(log_list[1:])
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- if MessageListener.last_log_key and MessageListener.last_log_key == log_key:
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- # methods.debug_log(f"MessageListener24", f"#86: {MessageListener.last_log_key == log_key}")
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- return
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-
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- # --- update --
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- MessageListener.last_log_key = log_key
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-
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- # --- save ---
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- methods.debug_log(f"MessageListener24", f"#log_list: {log_list}")
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- methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
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-
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@classmethod
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- def subscribe_v001(cls):
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- """"""
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- Global.emqx.start_subscribe_loop(
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- decorate_method=MessageListener.method_v001,
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- subscribe_topic='Vehicle/ControlVehicle/Veh001'
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- )
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-
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- @staticmethod
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- def method_c001(client, userdata, message):
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- """消息处理方法"""
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- # --- log ---
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- methods.debug_log(f"MessageListener|114", f"#message.payload: {message.payload}")
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+ def run(cls, background_is=True):
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- def subscribe_c001(cls):
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- """"""
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- Global.emqx.start_subscribe_loop(
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- decorate_method=MessageListener.method_c001,
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- subscribe_topic='Cockpit/CanBus/CanId001/Cop001'
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- )
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+ from lib.MessageListenerC001 import subscribe_c001
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+ from lib.MessageListenerC001 import subscribe_v001
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- @classmethod
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- def run(cls, background_is=True):
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thread_list = [
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- threading.Thread(target=cls.subscribe_v001),
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+ threading.Thread(target=subscribe_c001),
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+ threading.Thread(target=subscribe_v001),
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]
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for thread in thread_list:
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thread.setDaemon(True)
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Casper