版本暂存

2024-07-05 18:29:22 +08:00
parent f3e6bcc01f
commit 8acecadd2a
19 changed files with 18942 additions and 381 deletions
--- a/main_upper.py
+++ b/main_upper.py
@@ -0,0 +1,104 @@
+import toml
+import threading
+import queue
+from loguru import logger
+import subtask as sb
+import majtask as mj
+from by_cmd_py import by_cmd_py
+import time
+import action as act
+import logging
+import signal
+
+running = True
+def main_func(_queue, _skip_queue):
+    if _queue != None:
+        # 日志重定向
+        class Handler(logging.Handler):
+            def emit(self, record):
+                log_entry = self.format(record)
+                _queue.put({'level': record.levelname.lower(), 'content': log_entry})
+        logger.remove()
+        handler = Handler()
+        logger.add(handler, format="{time:MM-DD HH:mm:ss} {message}", level="DEBUG")
+        
+    def signal_handler(sig, frame):
+        global running
+        running = False
+    signal.signal(signal.SIGTERM, signal_handler)
+
+
+    cmd_py_obj = by_cmd_py(_queue)
+    sb.import_obj(cmd_py_obj)
+    act.import_obj(cmd_py_obj)
+
+    # 读取配置
+    cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
+    logger.info(cfg_main)
+    cfg_subtask = toml.load('/home/evan/Workplace/project_main/cfg_subtask.toml')
+
+    # 配置日志输出
+    logger.add(cfg_main['debug']['logger_filename'], format=cfg_main['debug']['logger_format'], retention = 5, level="INFO")
+
+    act.axis.camera(0)
+    act.axis.x2(140)
+    act.axis.storage(20)
+    act.axis.scoop(25)
+    act.axis.exec()
+
+    logger.info(cfg_main)
+    
+    # 向任务队列添加任务
+    task_queue = queue.Queue()
+    if cfg_main['task']['Subtask_enable'] is True:
+        task_queue.put(sb.task("人员施救第一块", sb.get_block1, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("人员施救第二块", sb.get_block2, cfg_main['find_counts']['GetBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_main['task']['GetBlock_enable'])) 
+        task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_main['task']['GetBBall_enable'])) 
+        # # TODO 添加一个空任务用于提前降 z 轴
+        task_queue.put(sb.task("通信抢修", sb.up_tower, cfg_main['find_counts']['UpTower_counts'], cfg_main['task']['UpTower_enable'])) 
+        task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_main['task']['GetRBall_enable'])) 
+        task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_main['task']['GetBBall_enable'] and cfg_main['task']['PutBBall_enable'])) 
+        task_queue.put(sb.task("物资盘点一阶段", sb.put_hanoi1, cfg_main['find_counts']['PutHanoi1_counts'], enable = True))  # 无论是否进行任务，检测标识并转向都是必须进行的
+        task_queue.put(sb.task("物资盘点二阶段", sb.put_hanoi2, cfg_main['find_counts']['PutHanoi2_counts'], cfg_main['task']['PutHanoi_enable'])) 
+        task_queue.put(sb.task("物资盘点三阶段", sb.put_hanoi3, cfg_main['find_counts']['PutHanoi3_counts'], enable = True))
+        task_queue.put(sb.task("应急避险一阶段", sb.move_area1, cfg_main['find_counts']['MoveArea1_counts'], cfg_main['task']['MoveArea_enable'])) 
+        task_queue.put(sb.task("应急避险二阶段", sb.move_area2, cfg_main['find_counts']['MoveArea2_counts'], cfg_main['task']['MoveArea_enable'])) 
+        task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_main['task']['KickAss_enable'])) 
+    # 将任务队列传入调度模块中
+    task_queuem_t = sb.task_queuem(task_queue)
+    # 创建任务队列的工作线程
+    def worker_thread():
+        while task_queuem_t.exec(_skip_queue) is True:
+            pass
+
+    # 启动工作线程
+    worker = threading.Thread(target=worker_thread, daemon=True)  
+    worker.start()  
+
+
+    # 创建主任务
+    main_task_t = mj.main_task(cmd_py_obj) # 初始化时传入 zmq socket 对象
+    try:
+        while running:
+            if task_queuem_t.status is sb.task_queuem_status.EXECUTING:
+                pass
+            else:
+                main_task_t.run()
+                pass
+    except KeyboardInterrupt:
+        logger.info("Interrupt received, stopping...")
+        # 停车 
+        for _ in range(3):
+            cmd_py_obj.send_speed_x(0)
+            time.sleep(0.1)
+            cmd_py_obj.send_speed_omega(0)
+            time.sleep(0.1)
+    for _ in range(3):
+        cmd_py_obj.send_speed_x(0)
+        time.sleep(0.1)
+        cmd_py_obj.send_speed_omega(0)
+        time.sleep(0.1)
+    logger.info("Main thread exit")
+if __name__ == '__main__':
+    main_func(None)