可运行

sri-server-bg02/lib/MessageListener.py

@@ -1,6 +1,7 @@
 from hub import methods, Global
 
 import threading
+import traceback
 import time
 import json
 import os
@@ -23,33 +24,32 @@ class MessageListener:
         # from lib.MessageListenerZJV5 import subscribe_Veh0538
 
         # todo 创建多个实例，根据不同项目现场，创建不同的监听消息的话题，以及指定对应解析使用的方法；
-        from lib.TopicListener import TopicListener
-
-        thread_list = [
-            threading.Thread(target=TopicListener(
-                'Cockpit/CanBus/CanId001/Cop001',
-                'method_c001',
-            )),
-            threading.Thread(target=TopicListener(
-                'Vehicle/ControlVehicle/Veh001',
-                'method_v001',
-            )),
-
-            # threading.Thread(target=subscribe_Veh0533),
-            # threading.Thread(target=subscribe_Veh0534),
-            # threading.Thread(target=subscribe_Veh0535),
-            # threading.Thread(target=subscribe_Veh0537),
-            # threading.Thread(target=subscribe_Veh0538),
-        ]
-        for thread in thread_list:
-            thread.setDaemon(True)
-            thread.start()
-        if background_is:
-            return
-        for thread in thread_list:
-            thread.join()
-
-
+        try:
+            from lib.TopicListener import TopicListener
+
+            t1 = TopicListener('Cockpit/CanBus/CanId001/Cop001', 'method_c001')
+            t2 = TopicListener('Vehicle/ControlVehicle/Veh001', 'method_v001')
+
+            thread_list = [
+                threading.Thread(target=t1.subscribe),
+                threading.Thread(target=t2.subscribe),
+
+                # threading.Thread(target=subscribe_Veh0533),
+                # threading.Thread(target=subscribe_Veh0534),
+                # threading.Thread(target=subscribe_Veh0535),
+                # threading.Thread(target=subscribe_Veh0537),
+                # threading.Thread(target=subscribe_Veh0538),
+            ]
+            for thread in thread_list:
+                thread.setDaemon(True)
+                thread.start()
+            if background_is:
+                return
+            for thread in thread_list:
+                thread.join()
+        except Exception as exception:
+            methods.debug_log("app.xxxxxxxxxxxxxxx", f"#exception: {exception.__class__.__name__}")
+            methods.debug_log("app.xxxxxxxxxxxxxxx", f"#traceback: {traceback.format_exc()}")
 if __name__ == '__main__':
     # --- test ---
     MessageListener.run()

sri-server-bg02/lib/TopicListener.py

@@ -15,245 +15,259 @@ class TopicListener:
     last_log_key = str()
 
     def __init__(self, subscribe_topic, method_name):
+        self.subscribe_topic = subscribe_topic
+        self.method_name = method_name
+
+
+    def subscribe(self):
+
+
+
+        def method_c001(_client, _userdata, message):
+            """消息处理方法"""
+            """
+            {
+                'basControl': {
+                    'directSwitch': 1,
+                    'eStop': 0,
+                    'gearControl': 0,
+                    'hazardLight': 0,
+                    'keyStatus': 0,
+                    'parkControl': 0,
+                    'silencedAlarm': 0,
+                    'travelLight': 2,
+                    'travelMode': 0,
+                    'vehicleHorn': 0
+                },
+                'driverControl': {
+                    'accPedal': '0 AND 0 || 0 AND -1',
+                    'brakePedal': '2 AND 2',
+                    'steeringWheel': '1 AND 0',
+                    'turnMode': 0,
+                    'turnSignal': 0
+                },
+                'errCode': {
+                    'errAccPedal': 0,
+                    'errBasOperation': '',
+                    'errBrakePedal': 0,
+                    'errEndTool': 0,
+                    'errHandle': 0,
+                    'errOther': '',
+                    'errSteeringWheel': 0
+                },
+                'taskControl': {
+                    'baseLegControl': '103 AND 24',
+                    'baseLegSwitch': 0,
+                    'bypassSwitch': 0,
+                    'cabLift': 0,
+                    'coopSignal': 3,
+                    'enableHydraulic': 1,
+                    'endJoint': '1 AND 0',
+                    'esCabLift': 0,
+                    'suckerSelect': 0,
+                    'taskJoint_1': '5 AND 0',
+                    'taskJoint_2': '0 AND 0',
+                    'taskJoint_3': '0 AND 0',
+                    'toolControl': '0 AND 0',
+                    'workLight': 0
+                },
+                'timeStamp': 576301601,
+                'userID': 'Ego',
+                'cockpitID': 'Cop001',
+                'vehicleID': '0538'
+            }
+            """
+            # --- check ---
+            # methods.debug_log(f"method_c001|75", f"#message.payload: {message.payload}")
+            try:
+                log_dict = json.loads(message.payload)
+            except Exception as exception:
+                methods.debug_log("method_c001|79", f"#message.payload: {message.payload}")
+                methods.debug_log("method_c001|79", f"#exception: {exception.__class__.__name__}")
+                methods.debug_log("method_c001|79", f"#traceback: {traceback.format_exc()}")
+                return
+
+            # --- check ---
+            # log_dict = json.loads(message.payload)
+            log_time = int(log_dict.get('timeStamp')) / 1000
+            user_uuid = log_dict.get('userID')
+            vehicle_id = log_dict.get('vehicleID')
+            cockpit_id = log_dict.get('cockpitID')
+            log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
+            if not log_uuid:
+                methods.debug_log(f"MessageListenerC001|error92", f"user_uuid: {user_uuid}, log_time: {log_time}")
+                return
+
+            # --- fill log_list ---
+            log_list = [
+
+                f"timeStamp: {methods.ts_to_string(log_time)}",  # 时间
+                f"topic: Cockpit/CanBus/CanId001/Cop001",  # 话题
+                # f"userID: {log_dict.get('userID')}",  # 用户id
+                # f"cockpitID: {log_dict.get('cockpitID')}",  # 舱id
+                # f"vehicleID: {log_dict.get('vehicleID')}",  # 车id
+
+                f"directSwitch: {log_dict.get('basControl').get('directSwitch')}",
+                f"eStop: {log_dict.get('basControl').get('eStop')}",
+                f"gearControl: {log_dict.get('basControl').get('gearControl')}",
+                f"hazardLight: {log_dict.get('basControl').get('hazardLight')}",
+                f"keyStatus: {log_dict.get('basControl').get('keyStatus')}",
+                f"parkControl: {log_dict.get('basControl').get('parkControl')}",
+                f"silencedAlarm: {log_dict.get('basControl').get('silencedAlarm')}",
+                f"travelLight: {log_dict.get('basControl').get('travelLight')}",
+                f"travelMode: {log_dict.get('basControl').get('travelMode')}",
+                f"vehicleHorn: {log_dict.get('basControl').get('vehicleHorn')}",
+
+                f"accPedal: {log_dict.get('driverControl').get('accPedal').replace('||', 'OR')}",
+                f"brakePedal: {log_dict.get('driverControl').get('brakePedal')}",
+                f"steeringWheel: {log_dict.get('driverControl').get('steeringWheel')}",
+                f"turnMode: {log_dict.get('driverControl').get('turnMode')}",
+                f"turnSignal: {log_dict.get('driverControl').get('turnSignal')}",
+
+                f"errAccPedal: {log_dict.get('errCode').get('errAccPedal')}",
+                f"errBasOperation: {log_dict.get('errCode').get('errBasOperation')}",
+                f"errBrakePedal: {log_dict.get('errCode').get('errBrakePedal')}",
+                f"errEndTool: {log_dict.get('errCode').get('errEndTool')}",
+                f"errHandle: {log_dict.get('errCode').get('errHandle')}",
+                f"errOther: {log_dict.get('errCode').get('errOther')}",
+                f"errSteeringWheel: {log_dict.get('errCode').get('errSteeringWheel')}",
+
+                f"baseLegControl: {log_dict.get('taskControl').get('baseLegControl')}",
+                f"baseLegSwitch: {log_dict.get('taskControl').get('baseLegSwitch')}",
+                f"bypassSwitch: {log_dict.get('taskControl').get('bypassSwitch')}",
+                f"cabLift: {log_dict.get('taskControl').get('cabLift')}",
+                f"coopSignal: {log_dict.get('taskControl').get('coopSignal')}",
+                f"enableHydraulic: {log_dict.get('taskControl').get('enableHydraulic')}",
+                f"endJoint: {log_dict.get('taskControl').get('endJoint')}",
+                f"esCabLift: {log_dict.get('taskControl').get('esCabLift')}",
+                f"suckerSelect: {log_dict.get('taskControl').get('suckerSelect')}",
+                f"taskJoint_1: {log_dict.get('taskControl').get('taskJoint_1')}",
+                f"taskJoint_2: {log_dict.get('taskControl').get('taskJoint_2')}",
+                f"taskJoint_3: {log_dict.get('taskControl').get('taskJoint_3')}",
+                f"toolControl: {log_dict.get('taskControl').get('toolControl')}",
+                f"workLight: {log_dict.get('taskControl').get('workLight')}",
+
+            ]
+
+            # --- check ---
+            log_key = '-'.join(log_list[1:])
+            if TopicListener.last_log_key and TopicListener.last_log_key == log_key:
+                # methods.debug_log(f"MessageListener24", f"#86: {TopicListener.last_log_key == log_key}")
+                return
+
+            # --- update --
+            TopicListener.last_log_key = log_key
+
+            # --- save ---
+            # methods.debug_log(f"MessageListenerC001|158", f"#log_list: {log_list}")
+            log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
+            methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
+
+        def method_v001(client, userdata, message):
+            """消息处理方法"""
+            # --- log ---
+            # methods.debug_log(f"method_v001|26", f"#message.payload: {message.payload}")
+            # return
+
+            # --- check ---
+            # if not methods.is_dir(Global.save_dir):
+            #     out = methods.run_command(f'mkdir -p {Global.save_dir}', callback=True)
+            #     methods.debug_log('MessageListener46', f"#out: {out}")
+
+            # --- check ---
+            try:
+                log_dict = json.loads(message.payload)
+                log_time = int(log_dict.get('timestamp')) / 1000
+                user_uuid = log_dict.get('userID')
+                vehicle_id = log_dict.get('VehicleID')
+                cockpit_id = log_dict.get('cockpitID')
+            except Exception as exception:
+                methods.debug_log("method_v001|41", f"#message.payload: {message.payload}")
+                methods.debug_log("method_v001|41", f"#exception: {exception.__class__.__name__}")
+                methods.debug_log("method_v001|41", f"#traceback: {traceback.format_exc()}")
+                return
+
+            # --- check ---
+            log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
+            if not log_uuid:
+                methods.debug_log(f"MessageListenerV001|error50", f"user_uuid: {user_uuid}, log_time: {log_time}")
+                return
+
+            # --- fill log_list ---
+            log_list = [
+
+                f"timestamp: {methods.ts_to_string(log_time)}",  # 时间
+                f"topic: Vehicle/ControlVehicle/Veh001",  # 话题
+                # f"userID: {log_dict.get('userID')}",  # 用户id
+                # f"VehicleID: {log_dict.get('VehicleID')}",  # 车id
+                # f"cockpitID: {log_dict.get('cockpitID')}",  # 舱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 TopicListener.last_log_key and TopicListener.last_log_key == log_key:
+                # methods.debug_log(f"MessageListener24", f"#86: {TopicListener.last_log_key == log_key}")
+                return
+
+            # --- update --
+            TopicListener.last_log_key = log_key
+
+            # --- save ---
+            # methods.debug_log(f"MessageListenerV001|113", f"#log_list: {log_list}")
+            log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
+            methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
+
+
+
+
+
         client = Global.emqx_factory.Client(host=Global.emqx_host, port=Global.emqx_port)
         client.start_subscribe_loop(
-            decorate_method=getattr(self, method_name, None),
-            subscribe_topic=subscribe_topic
+            decorate_method=getattr(locals(), self.method_name, None),
+            subscribe_topic=self.subscribe_topic
         )
 
-    def method_c001(self, client, userdata, message):
-        """消息处理方法"""
-        """
-        {
-            'basControl': {
-                'directSwitch': 1,
-                'eStop': 0,
-                'gearControl': 0,
-                'hazardLight': 0,
-                'keyStatus': 0,
-                'parkControl': 0,
-                'silencedAlarm': 0,
-                'travelLight': 2,
-                'travelMode': 0,
-                'vehicleHorn': 0
-            },
-            'driverControl': {
-                'accPedal': '0 AND 0 || 0 AND -1',
-                'brakePedal': '2 AND 2',
-                'steeringWheel': '1 AND 0',
-                'turnMode': 0,
-                'turnSignal': 0
-            },
-            'errCode': {
-                'errAccPedal': 0,
-                'errBasOperation': '',
-                'errBrakePedal': 0,
-                'errEndTool': 0,
-                'errHandle': 0,
-                'errOther': '',
-                'errSteeringWheel': 0
-            },
-            'taskControl': {
-                'baseLegControl': '103 AND 24',
-                'baseLegSwitch': 0,
-                'bypassSwitch': 0,
-                'cabLift': 0,
-                'coopSignal': 3,
-                'enableHydraulic': 1,
-                'endJoint': '1 AND 0',
-                'esCabLift': 0,
-                'suckerSelect': 0,
-                'taskJoint_1': '5 AND 0',
-                'taskJoint_2': '0 AND 0',
-                'taskJoint_3': '0 AND 0',
-                'toolControl': '0 AND 0',
-                'workLight': 0
-            },
-            'timeStamp': 576301601,
-            'userID': 'Ego',
-            'cockpitID': 'Cop001',
-            'vehicleID': '0538'
-        }
-        """
-        # --- check ---
-        # methods.debug_log(f"method_c001|75", f"#message.payload: {message.payload}")
-        try:
-            log_dict = json.loads(message.payload)
-        except Exception as exception:
-            methods.debug_log("method_c001|79", f"#message.payload: {message.payload}")
-            methods.debug_log("method_c001|79", f"#exception: {exception.__class__.__name__}")
-            methods.debug_log("method_c001|79", f"#traceback: {traceback.format_exc()}")
-            return
-
-        # --- check ---
-        # log_dict = json.loads(message.payload)
-        log_time = int(log_dict.get('timeStamp')) / 1000
-        user_uuid = log_dict.get('userID')
-        vehicle_id = log_dict.get('vehicleID')
-        cockpit_id = log_dict.get('cockpitID')
-        log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
-        if not log_uuid:
-            methods.debug_log(f"MessageListenerC001|error92", f"user_uuid: {user_uuid}, log_time: {log_time}")
-            return
-
-        # --- fill log_list ---
-        log_list = [
-
-            f"timeStamp: {methods.ts_to_string(log_time)}",  # 时间
-            f"topic: Cockpit/CanBus/CanId001/Cop001",  # 话题
-            # f"userID: {log_dict.get('userID')}",  # 用户id
-            # f"cockpitID: {log_dict.get('cockpitID')}",  # 舱id
-            # f"vehicleID: {log_dict.get('vehicleID')}",  # 车id
-
-            f"directSwitch: {log_dict.get('basControl').get('directSwitch')}",
-            f"eStop: {log_dict.get('basControl').get('eStop')}",
-            f"gearControl: {log_dict.get('basControl').get('gearControl')}",
-            f"hazardLight: {log_dict.get('basControl').get('hazardLight')}",
-            f"keyStatus: {log_dict.get('basControl').get('keyStatus')}",
-            f"parkControl: {log_dict.get('basControl').get('parkControl')}",
-            f"silencedAlarm: {log_dict.get('basControl').get('silencedAlarm')}",
-            f"travelLight: {log_dict.get('basControl').get('travelLight')}",
-            f"travelMode: {log_dict.get('basControl').get('travelMode')}",
-            f"vehicleHorn: {log_dict.get('basControl').get('vehicleHorn')}",
-
-            f"accPedal: {log_dict.get('driverControl').get('accPedal').replace('||', 'OR')}",
-            f"brakePedal: {log_dict.get('driverControl').get('brakePedal')}",
-            f"steeringWheel: {log_dict.get('driverControl').get('steeringWheel')}",
-            f"turnMode: {log_dict.get('driverControl').get('turnMode')}",
-            f"turnSignal: {log_dict.get('driverControl').get('turnSignal')}",
-
-            f"errAccPedal: {log_dict.get('errCode').get('errAccPedal')}",
-            f"errBasOperation: {log_dict.get('errCode').get('errBasOperation')}",
-            f"errBrakePedal: {log_dict.get('errCode').get('errBrakePedal')}",
-            f"errEndTool: {log_dict.get('errCode').get('errEndTool')}",
-            f"errHandle: {log_dict.get('errCode').get('errHandle')}",
-            f"errOther: {log_dict.get('errCode').get('errOther')}",
-            f"errSteeringWheel: {log_dict.get('errCode').get('errSteeringWheel')}",
-
-            f"baseLegControl: {log_dict.get('taskControl').get('baseLegControl')}",
-            f"baseLegSwitch: {log_dict.get('taskControl').get('baseLegSwitch')}",
-            f"bypassSwitch: {log_dict.get('taskControl').get('bypassSwitch')}",
-            f"cabLift: {log_dict.get('taskControl').get('cabLift')}",
-            f"coopSignal: {log_dict.get('taskControl').get('coopSignal')}",
-            f"enableHydraulic: {log_dict.get('taskControl').get('enableHydraulic')}",
-            f"endJoint: {log_dict.get('taskControl').get('endJoint')}",
-            f"esCabLift: {log_dict.get('taskControl').get('esCabLift')}",
-            f"suckerSelect: {log_dict.get('taskControl').get('suckerSelect')}",
-            f"taskJoint_1: {log_dict.get('taskControl').get('taskJoint_1')}",
-            f"taskJoint_2: {log_dict.get('taskControl').get('taskJoint_2')}",
-            f"taskJoint_3: {log_dict.get('taskControl').get('taskJoint_3')}",
-            f"toolControl: {log_dict.get('taskControl').get('toolControl')}",
-            f"workLight: {log_dict.get('taskControl').get('workLight')}",
-
-        ]
-
-        # --- check ---
-        log_key = '-'.join(log_list[1:])
-        if self.last_log_key and self.last_log_key == log_key:
-            # methods.debug_log(f"MessageListener24", f"#86: {self.last_log_key == log_key}")
-            return
-
-        # --- update --
-        self.last_log_key = log_key
-
-        # --- save ---
-        # methods.debug_log(f"MessageListenerC001|158", f"#log_list: {log_list}")
-        log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
-        methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
-
-    def method_v001(self, client, userdata, message):
-        """消息处理方法"""
-        # --- log ---
-        # methods.debug_log(f"method_v001|26", f"#message.payload: {message.payload}")
-        # return
-
-        # --- check ---
-        # if not methods.is_dir(Global.save_dir):
-        #     out = methods.run_command(f'mkdir -p {Global.save_dir}', callback=True)
-        #     methods.debug_log('MessageListener46', f"#out: {out}")
-
-        # --- check ---
-        try:
-            log_dict = json.loads(message.payload)
-            log_time = int(log_dict.get('timestamp')) / 1000
-            user_uuid = log_dict.get('userID')
-            vehicle_id = log_dict.get('VehicleID')
-            cockpit_id = log_dict.get('cockpitID')
-        except Exception as exception:
-            methods.debug_log("method_v001|41", f"#message.payload: {message.payload}")
-            methods.debug_log("method_v001|41", f"#exception: {exception.__class__.__name__}")
-            methods.debug_log("method_v001|41", f"#traceback: {traceback.format_exc()}")
-            return
-
-        # --- check ---
-        log_uuid = UserWorkRecord.get_log_uuid(user_uuid, log_time, vehicle_id, cockpit_id)
-        if not log_uuid:
-            methods.debug_log(f"MessageListenerV001|error50", f"user_uuid: {user_uuid}, log_time: {log_time}")
-            return
-
-        # --- fill log_list ---
-        log_list = [
-
-            f"timestamp: {methods.ts_to_string(log_time)}",  # 时间
-            f"topic: Vehicle/ControlVehicle/Veh001",  # 话题
-            # f"userID: {log_dict.get('userID')}",  # 用户id
-            # f"VehicleID: {log_dict.get('VehicleID')}",  # 车id
-            # f"cockpitID: {log_dict.get('cockpitID')}",  # 舱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 self.last_log_key and self.last_log_key == log_key:
-            # methods.debug_log(f"MessageListener24", f"#86: {self.last_log_key == log_key}")
-            return
-
-        # --- update --
-        self.last_log_key = log_key
-
-        # --- save ---
-        # methods.debug_log(f"MessageListenerV001|113", f"#log_list: {log_list}")
-        log_file_path = os.path.join(Global.save_dir, f'{log_uuid}.log')
-        methods.write_text(log_file_path, ' | '.join(log_list) + '\n', 'a')
+