def __init__(self, *args, **kwargs):
super(TestMqttSendGet, self).__init__(*args, **kwargs)
self.src_point = [114.4314, 30.523558]
# obj = ServerData()
self.logger_ = log.LogHandler('server_data_test')
self.mqtt_obj = server_data.MqttSendGet(self.logger_)
self.data_define_obj = server_data.DataDefine()
def __init__(self):
self.logger = log.LogHandler('mian')
self.com_logger = log.LogHandler('com_logger')
# 湖泊像素轮廓点
self.pix_cnts = None
# 当前接收到的船号，
self.online_ship_list = []
# 手动控制状态
self.ship_control_dict = {}
# 像素位置与经纬度
self.ship_pix_position_dict = {}
self.ship_lng_lat_position_dict = {}
# 用户点击像素点
self.click_pix_points_dict = {}
# 船配置航点
self.config_ship_lng_lats_dict = {}
# 船剩余电量
self.ship_dump_energy_dict = {}
# 船速度
self.ship_speed_dict = {}
# 船朝向
self.ship_direction_dict = {}
# 是否发送所有路径到船
self.b_send_path = False
self.b_send_control = False
# 采集点经纬度
self.lng_lats_list = []
# 记录当前存在的串口
self.serial_obj = None
else:
self.mqtt_client.publish(topic, payload=data, qos=qos)
# 订阅消息
def subscribe_topic(self, topic='qqq', qos=0):
"""
:param topic 订阅的话题
:param qos 发布质量
"""
self.logger.info({'topic': topic, 'qos': qos})
self.mqtt_client.subscribe(topic, qos)
if __name__ == '__main__':
# obj = ServerData()
logger = log.LogHandler('server_data_test')
mqtt_obj = MqttSendGet(logger)
data_define_obj = DataDefine()
# 启动后自动订阅话题
for topic, qos in data_define_obj.topics:
logger.info(topic + ' ' + str(qos))
mqtt_obj.subscribe_topic(topic=topic, qos=qos)
# http发送检测数据给服务器
while True:
mqtt_obj.publish_topic(topic='status_data_%s' % (config.ship_code),
data=data_define.init_ststus_data,
qos=1)
mqtt_obj.publish_topic(topic='detect_data_%s' % (config.ship_code),
data=data_define.init_detect_data,
qos=1)
time.sleep(config.pi2mqtt_interval)
import copy
import numpy as np
from numpy import e
from utils import log
import config
logger = log.LogHandler('pi_log')
class SimplePid:
def __init__(self):
self.errorSum = 0
self.currentError = 0
self.previousError = 0
# 左右侧超声波距离，没有返回None -1 表示距离过近
self.left_distance = None
self.right_distance = None
# 调节p数组
self.adjust_p_size = 10
self.adjust_p_list = []
def distance_p(self, distance, theta_error):
# motor_forward = int(config.motor_forward * (180-abs(theta_error))/(180*1.4))
motor_forward = int(config.motor_forward)
pwm = int((distance * (motor_forward / config.full_speed_meter)))
if pwm >= config.motor_forward:
pwm = config.motor_forward
pwm = int(pwm * (180 - abs(theta_error)) / 180)
return pwm
def update_steer_pid(self, theta_error):
os.path.join(
os.path.dirname(
os.path.abspath(__file__)),
'statics'))
sys.path.append(
os.path.join(
os.path.dirname(
os.path.abspath(__file__)),
'storage'))
sys.path.append(
os.path.join(
os.path.dirname(
os.path.abspath(__file__)),
'utils'))
logger = log.LogHandler('main_log')
def main():
config.update_setting()
if config.b_play_audio:
audios_manager.play_audio(audio_index=audios_manager.AudioType.start)
# 数据处理对象
data_manager_obj = data_manager.DataManager()
# 查询改船是否注册 若未注册直接退出
try:
binding_data = data_manager_obj.send(
method='http', data="", url=config.http_binding, http_type='GET')
if int(binding_data['flag']) != 1:
if config.b_play_audio:
audios_manager.play_audio('register.mp3')
"""
串口数据收发
"""
import serial
import binascii
import time
import copy
from threading import Thread
from utils import log
logger = log.LogHandler('test_com')
class SerialData:
def __init__(self, com, baud, timeout, logger=None):
if logger is None:
import logging
logging.basicConfig(
format=
'%(asctime)s - %(pathname)s[line:%(lineno)d] - %(levelname)s: %(message)s',
level=logging.DEBUG)
self.logger = logging
else:
self.logger = logger
self.port = com
self.baud = baud
self.timeout = timeout
try:
# 打开串口，并得到串口对象
self.uart = serial.Serial(self.port,
app = Flask(__name__,
template_folder=resource_path('templates'),
static_folder=resource_path('statics'))
CORS(app, resources=r'/*')
#测试使用
b_test = False
# 接收第一次点击经纬都找湖
@app.route('/')
def index():
return render_template('map3.html')
logger = log.LogHandler('main')
# 湖轮廓像素位置
@app.route('/pool_cnts', methods=['GET', 'POST'])
def pool_cnts():
print(request)
print("request.url", request.url)
print("request.data", request.data)
if b_test:
return json.dumps({
'data':
'391,599 745,539 872,379 896,254 745,150 999,63 499,0 217,51 66,181 0,470'
})
else:
# 失败返回提示信息