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sri-server-bg02/lib/MessageListener.py

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

sri-server-bg02/lib/MessageListenerC001.py

@@ -0,0 +1,27 @@
+from hub import methods, Global
+
+import threading
+import time
+import json
+import os
+
+# --- for linux
+# save_dir = f"/home/server/logs"
+
+# --- for windows
+# save_dir = r'C:\SRI-DINO.Server-py\logs'  # sri内网测试环境
+save_dir = r'C:\logs'  # sri内网测试环境
+
+
+def method_c001(client, userdata, message):
+    """消息处理方法"""
+    # --- log ---
+    methods.debug_log(f"MessageListenerC001|19", f"#message.payload: {message.payload}")
+
+
+def subscribe_c001(cls):
+    """"""
+    Global.emqx.start_subscribe_loop(
+        decorate_method=method_c001,
+        subscribe_topic='Cockpit/CanBus/CanId001/Cop001'
+    )

sri-server-bg02/lib/MessageListenerV001.py

@@ -0,0 +1,104 @@
+from hub import methods, Global
+
+import threading
+import time
+import json
+import os
+
+# --- for linux
+# save_dir = f"/home/server/logs"
+
+# --- for windows
+# save_dir = r'C:\SRI-DINO.Server-py\logs'  # sri内网测试环境
+save_dir = r'C:\logs'  # sri内网测试环境
+
+
+class LocalClass(object):
+    last_log_key = str()
+
+
+def method_v001(client, userdata, message):
+    """消息处理方法"""
+    # --- log ---
+    # print(f'MessageListener24: #message.payload: {message.payload}', flush=True)
+    # methods.debug_log(f"MessageListener24", f"#message.payload: {message.payload}")
+
+    # --- check ---
+    # if not methods.is_dir(save_dir):
+    #     out = methods.run_command(f'mkdir -p {save_dir}', callback=True)
+    #     methods.debug_log('MessageListener46', f"#out: {out}")
+
+    # --- save log ---
+    file_name = methods.now_string('v001-%Y-%m-%d-%H.log')
+    log_file_path = os.path.join(save_dir, file_name)
+    log_dict = json.loads(message.payload)
+    log_list = [
+
+        f"timestamp: {methods.ts_to_string(int(log_dict.get('timestamp')) / 1000)}",  # 时间
+        f"userID: {log_dict.get('userID')}",  # 用户id
+        f"VehicleID: {log_dict.get('VehicleID')}",  # 车id
+
+        f"directSwitch: {log_dict.get('baseControl')[0].get('directSwitch')}",  # 前后切换
+        f"eStop: {log_dict.get('baseControl')[0].get('eStop')}",  # 急停开关
+        f"gearCaontrol: {log_dict.get('baseControl')[0].get('gearCaontrol')}",  # 车辆档位控制
+        f"hazardLight: {log_dict.get('baseControl')[0].get('hazardLight')}",  # 双闪灯
+        f"keyStatus: {log_dict.get('baseControl')[0].get('keyStatus')}",  # 钥匙状态
+        f"parkControl: {log_dict.get('baseControl')[0].get('parkControl')}",  # 驻车控制
+        f"silencedAlarm: {log_dict.get('baseControl')[0].get('silencedAlarm')}",  # 消报警音按钮
+        f"travelLight: {log_dict.get('baseControl')[0].get('travelLight')}",  # 行驶灯光
+        f"travelMode: {log_dict.get('baseControl')[0].get('travelMode')}",  # 驾驶模式
+        f"vehicleHorn: {log_dict.get('baseControl')[0].get('vehicleHorn')}",  # 喇叭
+
+        f"accPedalF: {log_dict.get('driveControl')[0].get('accPedal')[0].get('accPedalF')}",  # 油门踏板.手油门
+        f"accPedalH: {log_dict.get('driveControl')[0].get('accPedal')[0].get('accPedalH')}",  # 油门踏板.脚油门
+
+        f"accPedalH: {log_dict.get('driveControl')[0].get('brakePedal')}",  # 刹车踏板
+        f"steeringWheel: {log_dict.get('driveControl')[0].get('steeringWheel')}",  # 方向盘转速
+        f"turnMode: {log_dict.get('driveControl')[0].get('turnMode')}",  # 转向模式
+        f"turnSignal: {log_dict.get('driveControl')[0].get('turnSignal')}",  # 转向灯
+
+        f"errAccPedal: {log_dict.get('errCode')[0].get('errAccPedal')}",  # 油门信号故障
+        f"errBasOperation: {log_dict.get('errCode')[0].get('errBasOperation')}",  # 基本操作故障
+        f"errBrakePedal: {log_dict.get('errCode')[0].get('errBrakePedal')}",  # 刹车信号故障
+        f"errEndTool: {log_dict.get('errCode')[0].get('errEndTool')}",  # 末端工具控制故障
+        f"errHandle: {log_dict.get('errCode')[0].get('errHandle')}",  # 手柄信号故障
+        f"errOther: {log_dict.get('errCode')[0].get('errOther')}",  # 其他故障
+        f"errSteeringWheel: {log_dict.get('errCode')[0].get('errSteeringWheel')}",  # 转向故障
+
+        f"baseLegControl: {log_dict.get('taskControl')[0].get('baseLegControl')}",  # 支腿动作控制
+        f"baseLegSwitch: {log_dict.get('taskControl')[0].get('baseLegSwitch')}",  # 支腿选择开关
+        f"bypassSwitch: {log_dict.get('taskControl')[0].get('bypassSwitch')}",  # 旁通开关
+        f"cabLift: {log_dict.get('taskControl')[0].get('cabLift')}",  # 驾驶室升降机构
+        f"coopSignal: {log_dict.get('taskControl')[0].get('coopSignal')}",  # 协同作业信号
+        f"enableHydraulic: {log_dict.get('taskControl')[0].get('enableHydraulic')}",  # 液压使能开关
+        f"endJoint: {log_dict.get('taskControl')[0].get('endJoint')}",  # 末端关节控制
+        f"esCabLift: {log_dict.get('taskControl')[0].get('esCabLift')}",  # 驾驶室应急下降开关
+        f"suckerSelect: {log_dict.get('taskControl')[0].get('suckerSelect')}",  # 吸盘选择开关
+        f"taskJoint_1: {log_dict.get('taskControl')[0].get('taskJoint_1')}",  # 第一个作业关节控制
+        f"taskJoint_2: {log_dict.get('taskControl')[0].get('taskJoint_2')}",  # 第二个作业关节控制
+        f"taskJoint_3: {log_dict.get('taskControl')[0].get('taskJoint_3')}",  # 第三个作业关节控制
+        f"toolControl: {log_dict.get('taskControl')[0].get('toolControl')}",  # 末端工具控制
+        f"workLight: {log_dict.get('taskControl')[0].get('workLight')}",  # 工作灯
+
+    ]
+
+    # --- check ---
+    log_key = '-'.join(log_list[1:])
+    if LocalClass.last_log_key and LocalClass.last_log_key == log_key:
+        # methods.debug_log(f"MessageListener24", f"#86: {LocalClass.last_log_key == log_key}")
+        return
+
+    # --- update --
+    LocalClass.last_log_key = log_key
+
+    # --- save ---
+    methods.debug_log(f"MessageListener24", f"#log_list: {log_list}")
+    methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
+
+
+def subscribe_v001(cls):
+    """"""
+    Global.emqx.start_subscribe_loop(
+        decorate_method=method_v001,
+        subscribe_topic='Vehicle/ControlVehicle/Veh001'
+    )