107 lines
4.8 KiB
Python
107 lines
4.8 KiB
Python
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, _skip_queue)
|
|
act.import_obj(cmd_py_obj)
|
|
|
|
# 读取配置
|
|
cfg_main = toml.load('/home/evan/Workplace/project_main/cfg_main.toml')
|
|
cfg_args = toml.load('/home/evan/Workplace/project_main/cfg_args.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_args['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_args['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_args['task']['GetBlock_enable']))
|
|
task_queue.put(sb.task("紧急转移", sb.put_block, cfg_main['find_counts']['PutBlock_counts'], cfg_args['task']['GetBlock_enable']))
|
|
task_queue.put(sb.task("整装上阵", sb.get_bball, cfg_main['find_counts']['GetBBall_counts'], cfg_args['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_args['task']['UpTower_enable']))
|
|
task_queue.put(sb.task("高控排险", sb.get_rball, cfg_main['find_counts']['GetRBall_counts'], cfg_args['task']['GetRBall_enable']))
|
|
task_queue.put(sb.task("派发物资", sb.put_bball, cfg_main['find_counts']['PutBBall_counts'], cfg_args['task']['GetBBall_enable'] and cfg_args['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_args['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_args['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_args['task']['MoveArea_enable']))
|
|
task_queue.put(sb.task("扫黑除暴", sb.kick_ass, cfg_main['find_counts']['KickAss_counts'], cfg_args['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__':
|
|
from multiprocessing import Queue
|
|
temp = Queue()
|
|
main_func(None, temp) |