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+from hub import methods, Global
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+
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+import threading
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+import traceback
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+import time
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+import json
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+import os
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+
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+from lib.UserWorkRecord import UserWorkRecord
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+
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+
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+class TopicListener:
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+ """
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+ """
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+ last_log_key = str()
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+
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+ def __init__(self, subscribe_topic, method_name):
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+ client = Global.emqx_factory.Client(host=Global.emqx_host, port=Global.emqx_port)
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+ client.start_subscribe_loop(
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+ decorate_method=getattr(self, method_name, None),
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+ subscribe_topic=subscribe_topic
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+ )
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+
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+ def method_c001(self, client, userdata, message):
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+ """消息处理方法"""
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+ """
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+ {
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+ 'basControl': {
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+ 'directSwitch': 1,
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+ 'eStop': 0,
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+ 'gearControl': 0,
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+ 'hazardLight': 0,
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+ 'keyStatus': 0,
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+ 'parkControl': 0,
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+ 'silencedAlarm': 0,
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+ 'travelLight': 2,
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+ 'travelMode': 0,
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+ 'vehicleHorn': 0
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+ },
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+ 'driverControl': {
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+ 'accPedal': '0 AND 0 || 0 AND -1',
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+ 'brakePedal': '2 AND 2',
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+ 'steeringWheel': '1 AND 0',
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+ 'turnMode': 0,
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+ 'turnSignal': 0
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+ },
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+ 'errCode': {
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+ 'errAccPedal': 0,
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+ 'errBasOperation': '',
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+ 'errBrakePedal': 0,
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+ 'errEndTool': 0,
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+ 'errHandle': 0,
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+ 'errOther': '',
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+ 'errSteeringWheel': 0
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+ },
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+ 'taskControl': {
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+ 'baseLegControl': '103 AND 24',
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+ 'baseLegSwitch': 0,
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+ 'bypassSwitch': 0,
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+ 'cabLift': 0,
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+ 'coopSignal': 3,
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+ 'enableHydraulic': 1,
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+ 'endJoint': '1 AND 0',
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+ 'esCabLift': 0,
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+ 'suckerSelect': 0,
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+ 'taskJoint_1': '5 AND 0',
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+ 'taskJoint_2': '0 AND 0',
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+ 'taskJoint_3': '0 AND 0',
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+ 'toolControl': '0 AND 0',
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+ 'workLight': 0
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+ },
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+ 'timeStamp': 576301601,
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+ 'userID': 'Ego',
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+ 'cockpitID': 'Cop001',
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+ 'vehicleID': '0538'
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+ }
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+ """
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+ # --- check ---
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+ # methods.debug_log(f"method_c001|75", f"#message.payload: {message.payload}")
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+ try:
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+ log_dict = json.loads(message.payload)
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+ except Exception as exception:
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+ methods.debug_log("method_c001|79", f"#message.payload: {message.payload}")
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+ methods.debug_log("method_c001|79", f"#exception: {exception.__class__.__name__}")
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+ methods.debug_log("method_c001|79", f"#traceback: {traceback.format_exc()}")
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+ return
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+
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+ # --- check ---
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+ # log_dict = json.loads(message.payload)
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+ log_time = int(log_dict.get('timeStamp')) / 1000
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+ user_uuid = log_dict.get('userID')
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+ vehicle_id = log_dict.get('vehicleID')
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+ cockpit_id = log_dict.get('cockpitID')
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+ log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
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+ if not log_uuid:
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+ methods.debug_log(f"MessageListenerC001|error92", f"user_uuid: {user_uuid}, log_time: {log_time}")
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+ return
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+
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+ # --- fill log_list ---
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+ log_list = [
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+
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+ f"timeStamp: {methods.ts_to_string(log_time)}", # 时间
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+ f"topic: Cockpit/CanBus/CanId001/Cop001", # 话题
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+ # f"userID: {log_dict.get('userID')}", # 用户id
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+ # f"cockpitID: {log_dict.get('cockpitID')}", # 舱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('basControl').get('directSwitch')}",
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+ f"eStop: {log_dict.get('basControl').get('eStop')}",
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+ f"gearControl: {log_dict.get('basControl').get('gearControl')}",
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+ f"hazardLight: {log_dict.get('basControl').get('hazardLight')}",
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+ f"keyStatus: {log_dict.get('basControl').get('keyStatus')}",
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+ f"parkControl: {log_dict.get('basControl').get('parkControl')}",
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+ f"silencedAlarm: {log_dict.get('basControl').get('silencedAlarm')}",
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+ f"travelLight: {log_dict.get('basControl').get('travelLight')}",
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+ f"travelMode: {log_dict.get('basControl').get('travelMode')}",
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+ f"vehicleHorn: {log_dict.get('basControl').get('vehicleHorn')}",
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+
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+ f"accPedal: {log_dict.get('driverControl').get('accPedal').replace('||', 'OR')}",
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+ f"brakePedal: {log_dict.get('driverControl').get('brakePedal')}",
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+ f"steeringWheel: {log_dict.get('driverControl').get('steeringWheel')}",
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+ f"turnMode: {log_dict.get('driverControl').get('turnMode')}",
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+ f"turnSignal: {log_dict.get('driverControl').get('turnSignal')}",
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+
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+ f"errAccPedal: {log_dict.get('errCode').get('errAccPedal')}",
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+ f"errBasOperation: {log_dict.get('errCode').get('errBasOperation')}",
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+ f"errBrakePedal: {log_dict.get('errCode').get('errBrakePedal')}",
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+ f"errEndTool: {log_dict.get('errCode').get('errEndTool')}",
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+ f"errHandle: {log_dict.get('errCode').get('errHandle')}",
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+ f"errOther: {log_dict.get('errCode').get('errOther')}",
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+ f"errSteeringWheel: {log_dict.get('errCode').get('errSteeringWheel')}",
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+
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+ f"baseLegControl: {log_dict.get('taskControl').get('baseLegControl')}",
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+ f"baseLegSwitch: {log_dict.get('taskControl').get('baseLegSwitch')}",
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+ f"bypassSwitch: {log_dict.get('taskControl').get('bypassSwitch')}",
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+ f"cabLift: {log_dict.get('taskControl').get('cabLift')}",
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+ f"coopSignal: {log_dict.get('taskControl').get('coopSignal')}",
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+ f"enableHydraulic: {log_dict.get('taskControl').get('enableHydraulic')}",
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+ f"endJoint: {log_dict.get('taskControl').get('endJoint')}",
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+ f"esCabLift: {log_dict.get('taskControl').get('esCabLift')}",
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+ f"suckerSelect: {log_dict.get('taskControl').get('suckerSelect')}",
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+ f"taskJoint_1: {log_dict.get('taskControl').get('taskJoint_1')}",
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+ f"taskJoint_2: {log_dict.get('taskControl').get('taskJoint_2')}",
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+ f"taskJoint_3: {log_dict.get('taskControl').get('taskJoint_3')}",
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+ f"toolControl: {log_dict.get('taskControl').get('toolControl')}",
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+ f"workLight: {log_dict.get('taskControl').get('workLight')}",
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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 self.last_log_key and self.last_log_key == log_key:
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+ # methods.debug_log(f"MessageListener24", f"#86: {self.last_log_key == log_key}")
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+ return
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+
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+ # --- update --
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+ self.last_log_key = log_key
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+
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+ # --- save ---
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+ # methods.debug_log(f"MessageListenerC001|158", f"#log_list: {log_list}")
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+ log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
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+ methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
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+
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+ def method_v001(self, 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"method_v001|26", f"#message.payload: {message.payload}")
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+ # return
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+
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+ # --- check ---
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+ # if not methods.is_dir(Global.save_dir):
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+ # out = methods.run_command(f'mkdir -p {Global.save_dir}', callback=True)
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+ # methods.debug_log('MessageListener46', f"#out: {out}")
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+
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+ # --- check ---
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+ try:
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+ log_dict = json.loads(message.payload)
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+ log_time = int(log_dict.get('timestamp')) / 1000
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+ user_uuid = log_dict.get('userID')
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+ vehicle_id = log_dict.get('VehicleID')
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+ cockpit_id = log_dict.get('cockpitID')
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+ except Exception as exception:
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+ methods.debug_log("method_v001|41", f"#message.payload: {message.payload}")
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+ methods.debug_log("method_v001|41", f"#exception: {exception.__class__.__name__}")
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+ methods.debug_log("method_v001|41", f"#traceback: {traceback.format_exc()}")
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+ return
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+
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+ # --- check ---
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+ log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
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+ if not log_uuid:
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+ methods.debug_log(f"MessageListenerV001|error50", f"user_uuid: {user_uuid}, log_time: {log_time}")
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+ return
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+
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+ # --- fill log_list ---
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+ log_list = [
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+
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+ f"timestamp: {methods.ts_to_string(log_time)}", # 时间
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+ f"topic: Vehicle/ControlVehicle/Veh001", # 话题
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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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+ # f"cockpitID: {log_dict.get('cockpitID')}", # 舱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 self.last_log_key and self.last_log_key == log_key:
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+ # methods.debug_log(f"MessageListener24", f"#86: {self.last_log_key == log_key}")
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+ return
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+
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+ # --- update --
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+ self.last_log_key = log_key
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+
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+ # --- save ---
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+ # methods.debug_log(f"MessageListenerV001|113", f"#log_list: {log_list}")
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+ log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
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+ methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
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Casper