project_main/subtask.py

from enum import Enum
from loguru import logger
from utils import label_filter
from utils import tlabel
import toml
import time

# 任务类
class task:  
    def __init__(self, func_exec, func_find, enable=True):  
        self.enable = enable
        self.func_exec = func_exec
        self.func_find = func_find  
    def find(self):
        # 检查该任执行标志
        # TODO 完善该接口，是否需要单独为每种 task 编写一个函数，还是设置一个通用的过滤器（从 detection 模块过滤结果）
        while self.func_find() is False:
            pass
    def exec(self):  
        # 根据标志位确定是否执行该任务
        if self.enable is True:
            logger.debug(f"[Task ]# Executing task")  
            self.func_exec()  
            logger.debug(f"[Task ]# Task completed")  
        else:
            logger.warning(f"[Task ]# Skip task")

# 任务队列状态类
class task_queuem_status(Enum):
    IDEL      = 0
    SEARCHING = 1
    EXECUTING = 2

# 任务队列类 非EXECUTEING 时均执行 huigui，注意互斥操作
class task_queuem(task):
    # task_now = task(None, False)
    def __init__(self, queue):
        super(task_queuem, self)
        self.queue = queue
        self.status = task_queuem_status.IDEL
        self.busy = True
        logger.info(f"[TaskM]# Task num {self.queue.qsize()}")
    def exec(self):
        # 如果空闲状态则将下一个队列任务取出
        if self.status is task_queuem_status.IDEL:
            if self.queue.qsize() == 0:
                self.busy = False
                logger.info(f"[TaskM]# Task queue empty, exit")
                return False
            self.task_now = self.queue.get()

            # 如果当前任务没有使能，则直接转入执行状态，由任务执行函数打印未执行信息
            if self.task_now.enable is True:
                self.status = task_queuem_status.SEARCHING
            else:
                self.status = task_queuem_status.EXECUTING

            logger.info(f"[TaskM]# ---------------------->>>>")
        # 阻塞搜索任务标志位
        elif self.status is task_queuem_status.SEARCHING:
            logger.info(f"[TaskM]# Start searching task target")
            self.task_now.find()
            self.status = task_queuem_status.EXECUTING
        # 执行任务函数
        elif self.status is task_queuem_status.EXECUTING:
            logger.info(f"[TaskM]# Start execute task function")
            self.task_now.exec()                 # 执行当前任务函数
            self.queue.task_done()                  # 弹出已执行的任务
            self.status = task_queuem_status.IDEL   #
            logger.info(f"[TaskM]# <<<<----------------------")
        return True




# 人员施救
class get_block():
    def find():
        # 目标检测红/蓝方块
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.RBLOCK)
        ret2, list2 = filter.get(tlabel.BBLOCK)

        if (ret1 > 0) or (ret2 > 0):
            logger.info("[TASK1]# find label")
            return True
        else:
            return False
    def exec():
        cfg = toml.load('cfg_subtask.toml') # 加载任务配置
        pass


# 紧急转移
class put_block():
    def find():
        # 目标检测医院
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.HOSPITAL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        cfg = toml.load('cfg_subtask.toml') # 加载任务配置
        pass

# 整装上阵
class get_bball():
    def find():
        # 目标检测黄球
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.YBALL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 通信抢修
class up_tower():
    def find():
        # 目标检测通信塔
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.YBALL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 高空排险
class get_rball():
    def find():
        # 目标检测红球
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.RBALL)
        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 派发物资
class put_bball():
    def find():
        # 目标检测通信塔
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.BASKET)
        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 物资盘点
class put_hanoi1():
    def find():
        # 目标检测左右转向标识
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.MARKL)
        ret2, list2 = filter.get(tlabel.MARKR)

        if (ret1 > 0) or (ret2 > 0):
            return True
        else:
            return False
    def exec():
        pass

class put_hanoi2():
    def find():
        # 目标检测左右转向标识
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.LPILLAR)

        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 应急避险
class move_area():
    def find():
        # 目标检测标志牌
        # TODO 如何确保在都检测标志牌的情况下，和下一个任务进行区分
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.SIGN)

        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass

# 扫黑除暴
class kick_ass():
    def find():
        # 目标检测标志牌
        # TODO 如何确保在都检测标志牌的情况下，和上一个任务进行区分
        filter = label_filter(None)
        ret1, list1 = filter.get(tlabel.SIGN)

        if ret1 > 0:
            return True
        else:
            return False
    def exec():
        pass