Server-py/sri-server-bg02/lib/TopicListener.py

from hub import methods, Global

import threading
import traceback
import time
import json
import os

from lib.UserWorkRecord import UserWorkRecord

# class LocalClass(object):
#     last_log_key = str()

topic_info_dict = {}  # {<topic_name>: <last_log_key>}


def method_v001(_client, _userdata, message):
    """消息处理方法"""
    # --- get ---
    topic = _client.casper_info.get('topic')

    # --- debug ---
    # methods.debug_log(f"TopicListener|{topic}|23", 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('TopicListener|25', 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(f"TopicListener|{topic}|39", f"#message.payload: {message.payload}")
        methods.debug_log(f"TopicListener|{topic}|39", f"#exception: {exception.__class__.__name__}")
        methods.debug_log(f"TopicListener|{topic}|39", 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"TopicListener|{topic}|39", 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"brakePedal: {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

    ]

    # --- get ---
    last_log_key = topic_info_dict.get(topic)

    # --- check ---
    log_key = '-'.join(log_list[1:])
    if last_log_key and last_log_key == log_key:
        return

    # --- update --
    # last_log_key = log_key
    topic_info_dict[topic] = log_key

    # --- save ---
    # methods.debug_log(f"TopicListener|{topic}|116", 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_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'
    }
    """
    # --- get ---
    topic = _client.casper_info.get('topic')

    # --- debug ---
    # methods.debug_log(f"TopicListener|168", f"#_client: {_client.casper_info} | {type(_client.casper_info)}")
    # methods.debug_log(f"TopicListener|168", f"#_client: {_userdata} | {type(_userdata)}")
    # methods.debug_log(f"TopicListener|{topic}|179", f"#message.payload: {message.payload}")
    # return

    # --- check ---
    try:
        log_dict = json.loads(message.payload)
    except Exception as exception:
        methods.debug_log(f"TopicListener|{topic}|186", f"#message.payload: {message.payload}")
        methods.debug_log(f"TopicListener|{topic}|186", f"#exception: {exception.__class__.__name__}")
        methods.debug_log(f"TopicListener|{topic}|186", 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"TopicListener|{topic}|201|error201", 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')}",

    ]

    # --- get ---
    last_log_key = topic_info_dict.get(topic)

    # --- check ---
    log_key = '-'.join(log_list[1:])
    if last_log_key and last_log_key == log_key:
        return

    # --- update --
    # last_log_key = log_key
    topic_info_dict[topic] = log_key

    # --- save ---
    # methods.debug_log(f"TopicListener|{topic}|268", 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')


class TopicListener:
    """
    """

    def __init__(self, subscribe_topic, method_name):
        self.subscribe_topic = subscribe_topic
        self.method_name = method_name

    def subscribe(self):

        # --- define ---
        topic_info_dict[self.subscribe_topic] = str()

        # --- set ---
        if self.method_name == 'method_v001':
            method = method_v001
        elif self.method_name == 'method_c001':
            method = method_c001
        else:
            method = None

        # --- start ---
        client = Global.emqx_factory.Client(host=Global.emqx_host, port=Global.emqx_port)
        client.casper_info = {
            'topic': self.subscribe_topic
        }
        client.start_subscribe_loop(
            decorate_method=method,
            subscribe_topic=self.subscribe_topic
        )