def create_agv_info_xml(self, file_name):
try:
a = ET.Element('agv_info')
b1 = ET.SubElement(a, 'layouts')
b2 = ET.SubElement(a, 'router')
b3 = ET.SubElement(a, 'agvs')
layout = ET.SubElement(
b1, 'layout', {
'dock': '/etc/docks.xml',
"id": "1",
"path": "/etc/layout.xml",
"search_type": "1"
})
attribute = ET.SubElement(b2, 'attribute', {
"detourByDock_enable": "0",
"detourByDock_timeout": "3000"
})
tree1 = ET.ElementTree(a)
tree1.write(file_name, encoding='utf-8')
except Exception as e:
logger.error(
'create agv_info xml error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def kill_process(self, process_list):
try:
#
for i in process_list:
# print(i)
logger.info('Star kill process:{}!'.format(i))
if i.find('om.exe') > -1:
command = r'wmic process where name="{program}" delete'.format(
program=i)
else:
command = 'taskkill /f /t /im {program}'.format(program=i)
temp = os.system(command)
# if self.is_admin():
# print("以管理员权限运行")
# temp=os.system(command)
# else:
# if sys.version_info[0] == 3:
# print("无管理员权限")
# ctypes.windll.shell32.ShellExecuteW(None, "runas", sys.executable, __file__, None, 1)
logger.info('End kill prcess:{} !'.format(i))
except Exception as e:
logger.error(
'kill all process error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def copy_layout_to_general_process(self):
try:
logger.info('------start copy layout and eg.-----')
dispath_l = os.path.join(self.dispathpath, 'etc')
enginepath_l = os.path.join(self.enginepath, 'etc')
if not os.path.exists(dispath_l):
os.makedirs(dispath_l)
if not os.path.exists(enginepath_l):
os.makedirs(enginepath_l)
# 清空文件
self.detele_path(dispath_l)
self.detele_path(enginepath_l)
# 复制文件
dirlist = os.listdir(self.layoutpath)
for dir in dirlist:
source = os.path.join(self.layoutpath, dir)
if (dir == 'docks.xml' or dir == 'layout.xml'):
shutil.copy(source, dispath_l)
logger.info('copy dir:{} to "{}"'.format(
source, dispath_l))
shutil.copy(source, enginepath_l)
logger.info('copy dir:{} to "{}"'.format(
source, enginepath_l))
else:
shutil.copy(source, enginepath_l)
logger.info('copy dir:{} to "{}"'.format(
source, enginepath_l))
logger.info('------end copy layout and eg.-----')
except Exception as e:
logger.error('copy layout error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def modify_xml_attribute_value(self, title_list, row_value, agv_node, j):
try:
config_title = []
xmlkeys = list(agv_node[j].attributes.keys())
for title in title_list:
rawVal = row_value[title_list.index(title)]
if isinstance(rawVal, str):
value = rawVal
else:
value = float(rawVal)
if (value == '' or value == None):
if (agv_node[j].getAttribute(title)):
# agv_node[j].getAttribute(title).parentNode.removeChild(title)
agv_node[j].removeAttribute(title)
else:
if (title in [
'dock_id', 'id', 'location_type', 'priority',
'exit_dock', 'max_tasking_agv_num',
'ancestor_node_id', 'distance', 'node_id', 'id',
'type', 'port', 'shell_port', 'layout_id',
'fts_port', 'simulation', 'jess_port', 'id',
'object_type_id', 'fit_location_id', 'error_code',
'pallet_type', 'home_node_id', 'current_node_id'
]):
value = int(value)
agv_node[j].setAttribute(title, str(value))
config_title.append(title)
x = [item for item in xmlkeys if item not in config_title]
if x:
for d in x:
agv_node[j].removeAttribute(d)
except Exception as e:
logger.error('modify xml value error!原因：{}'.format(e))
def copy_layout_to_i_process(self):
try:
logger.info('------start copy layout and eg.-----')
dispath_etc = os.path.join(self.dispathpath, 'etc')
enginepath_etc = os.path.join(self.enginepath, 'etc')
#清空文件
self.detele_path(dispath_etc)
self.detele_path(enginepath_etc)
etc_file_name = ['dock.xml', 'layout.xml']
for x in etc_file_name:
self.detele_path_files(self.i_monitorpath, x)
#复制文件
dirlist = os.listdir(self.layoutpath)
for dir in dirlist:
source = os.path.join(self.layoutpath, dir)
if (dir == 'docks.xml' or dir == 'layout.xml'):
shutil.copy(source, dispath_etc)
logger.info('copy dir:{} to "{}"'.format(
source, dispath_etc))
shutil.copy(source, enginepath_etc)
logger.info('copy dir:{} to "{}"'.format(
source, enginepath_etc))
shutil.copy(source, self.i_monitorpath)
logger.info('copy dir:{} to "{}"'.format(
source, self.i_monitorpath))
else:
shutil.copy(source, enginepath_etc)
logger.info('copy dir:{} to "{}"'.format(
source, enginepath_etc))
logger.info('------end copy layout and eg.-----')
except Exception as e:
logger.error('copy layout error!原因：{}'.format(e))
def copy_layout_to_old_general_process(self):
try:
logger.info('------start copy layout and eg.-----')
dispath_l = os.path.join(self.dispathpath, 'etc')
enginepath_l = os.path.join(self.enginepath, 'etc')
monitor_l = os.path.join(configs.bsmonitorpath, 'configFiles')
if not os.path.exists(dispath_l):
os.makedirs(dispath_l)
if not os.path.exists(enginepath_l):
os.makedirs(enginepath_l)
# 清空文件
self.detele_path(dispath_l)
self.detele_path(enginepath_l)
self.detele_path(monitor_l)
# 复制文件
dirlist = os.listdir(self.layoutpath)
for dir in dirlist:
source = os.path.join(self.layoutpath, dir)
shutil.copy(source, enginepath_l)
logger.info('copy dir:{} to "{}"'.format(source, enginepath_l))
shutil.copy(source, monitor_l)
logger.info('copy dir:{} to "{}"'.format(source, monitor_l))
# if (dir == 'docks.xml' or dir == 'layout.xml'):
# shutil.copy(source, enginepath_l)
# logger.info('copy dir:{} to "{}"'.format(source, enginepath_l))
# shutil.copy(source, monitor_l)
# logger.info('copy dir:{} to "{}"'.format(source, monitor_l))
# else:
# shutil.copy(source, enginepath_l)
# logger.info('copy dir:{} to "{}"'.format(source, enginepath_l))
logger.info('------end copy layout and eg.-----')
except Exception as e:
logger.error('copy layout error!原因：{}'.format(e))
def copy_layout_to_vehicles(self):
try:
if os.path.exists(configs.simpath):
logger.info('------start copy layout to vehicles-----')
for i in os.listdir(configs.simpath):
if os.path.isdir(i):
vehiclespath = os.path.join(configs.simpath, i)
mappath = os.path.join(vehiclespath, 'etc\map')
if not os.path.exists(mappath):
os.makedirs(mappath)
# 清空文件
self.detele_path(mappath)
# 复制文件
dirlist = os.listdir(self.layoutpath)
for dir in dirlist:
source = os.path.join(self.layoutpath, dir)
if (dir == 'docks.xml' or dir == 'layout.xml'):
shutil.copy(source, mappath)
logger.info('copy dir:{} to "{}"'.format(
source, mappath))
logger.info('------end copy layout to vehicles-----')
else:
logger.info('path:{} not exists!'.format(configs.simpath))
except Exception as e:
logger.error('copy layout to vehicles error!原因：{}'.format(e))
def api_check_object_task_by_status(status_id):
try:
new_check_object_task_url = check_object_task_url + '?status_id={}'.format(
status_id)
pr = requests.get(url=new_check_object_task_url, headers=pheaders)
logger.info(
f'-----url：{ new_check_object_task_url},返回：{pr.status_code}')
if (pr.status_code == 200):
return_dict = eval(
pr.text.replace('null', 'None').replace('false',
'False').replace(
'true', 'True'))
object_task_num = len(return_dict)
return object_task_num
else:
logger.info(
f'---------------check_id:{current_check_id}---------Failed :api_check_agv_commands! agv_list：{status_id},status_code:{pr.status_code}'
)
return None
except Exception as e:
logger.error(
f'---------------check_id:{current_check_id}---------api_check_agv_commands Error!!results:{e}'
)
return None
def check_sheet_and_clear_content(self, excel_name, sheet_name,
title_list):
try:
isexists = os.path.exists(excel_name)
if isexists:
wb = xlrd.open_workbook(excel_name)
sheet_names = wb.sheet_names()
# print(f'sheet_names：{sheet_names},{self.sheet_name in sheet_names}')
if (sheet_name not in sheet_names):
logger.info(
f'current file：{excel_name} unexists sheet:{sheet_name},need create sheet！'
)
self.Add_sheet(excel_name, sheet_name)
self.write_title_cell(excel_name, sheet_name, title_list)
else:
sheet = wb.sheet_by_name(self.sheet_name)
current_title = sheet.row_values(0)
current_rows = sheet.nrows
checkinfo = [
xx for xx in title_list if xx not in current_title
]
if (checkinfo != [] or current_rows > 1):
logger.info(
f'current file：{excel_name} title error or have content,detele sheet and add new！'
)
self.remove_sheet(excel_name, sheet_name)
self.Add_sheet(excel_name, sheet_name)
self.write_title_cell(excel_name, sheet_name,
title_list)
except Exception as e:
logger.error(
'check_sheet_and_clear_content error!原因：{},filename：{},line:{}'
.format(e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def write_agv_info_excel(self):
try:
get_info = self.get_agv_info_from_docks()
xfile = openpyxl.load_workbook(self.excel_name)
sheet = xfile.get_sheet_by_name(self.sheet_name)
start_id = self.start_agv_id
shell_port = int(configs.shell_port) + start_id
port = 10000 + start_id
fts_port = int(configs.fts_port)
jess_port = int(configs.jess_port)
for n in range(self.need_get_agv_num):
self.title = [
'id', 'type', 'ip', 'port', 'shell_port', 'layout_id',
'fts_port', 'simulation', 'pos_x', 'pos_y', 'pos_angle',
'jess_port', 'mac_addr'
]
current_value = [
start_id, self.agv_type_id, '127.0.0.1', port, shell_port,
1, fts_port, 1, get_info[n - 1][1], get_info[n - 1][2],
get_info[n - 1][3], jess_port, None
]
print(f'第{n+2}行数据：{current_value}')
for i in range(len(self.title)):
sheet.cell(n + 2, i + 1).value = current_value[i]
start_id = start_id + 1
port = port + 1
shell_port = shell_port + 1
xfile.save(self.excel_name)
except Exception as e:
logger.error(
'write_agv_info_excel error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def copy_layout_to_vehicles(self):
try:
if os.path.exists(configs.simpath):
logger.info('------start copy layout to vehicles-----')
for i in os.listdir(configs.simpath):
vehiclespath = os.path.join(configs.simpath, i)
# print(configs.simpath,vehiclespath,os.path.isdir(vehiclespath))
if os.path.isdir(vehiclespath):
mappath = os.path.join(vehiclespath, 'etc\map')
if not os.path.exists(mappath):
os.makedirs(mappath)
# 清空文件
self.detele_path(mappath)
# 复制文件
dirlist = os.listdir(self.layoutpath)
for dir in dirlist:
source = os.path.join(self.layoutpath, dir)
if (dir == 'docks.xml' or dir == 'layout.xml'):
shutil.copy(source, mappath)
logger.info('copy dir:{} to "{}"'.format(
source, mappath))
logger.info('------end copy layout to vehicles-----')
else:
logger.info('path:{} not exists!'.format(configs.simpath))
except Exception as e:
logger.error(
'copy layout to vehicles error!原因：{},filename：{},line:{}'.
format(e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def modify_om_db_config(self):
try:
isexists = os.path.exists(self.om_dbconfigpath)
if isexists:
logger.info('Start modify om db config!')
with open(self.om_dbconfigpath, "r",
encoding='utf-8') as jsonFile:
data = json.load(jsonFile)
tmp = data["DBcon"]
data["DBcon"]["host"] = self.ip
data["DBcon"]["port"] = self.port
data["DBcon"]["database"] = self.dbname
data["DBcon"]["user"] = self.dbuser
data["DBcon"]["password"] = self.dbpassword
# logger.info('rest_api db_config：before：{}，after：{}'.format(tmp,data))
with open(self.om_dbconfigpath, "w") as jsonFile:
json.dump(data, jsonFile, ensure_ascii=False)
logger.info('End modify om db config!')
else:
logger.info('not exists path:{}'.format(self.om_dbconfigpath))
except Exception as e:
logger.error('Modify om db error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def get_agv_info_from_docks(self):
try:
#打开xml文档
dom = minidom.parse(self.dockspath)
#得到文档元素对象
root = dom.documentElement
docks = root.getElementsByTagName('dock')
choice_docks = random.sample(docks, int(self.need_get_agv_num))
agv_info = []
for sd in choice_docks:
#dock点
docks_id = sd.getElementsByTagName("id")[0].childNodes[0].data
docks_info = sd.getElementsByTagName("pos")[0]
#x值、y值、坐标
x = docks_info.getAttribute("x")
y = docks_info.getAttribute("y")
angle = docks_info.getAttribute("angle")
single_dock_info = (docks_id, x, y, angle)
# print(docks_id,x,y,angle)
logger.info(f'get docks info:{docks_id},{x},{y},{angle}')
agv_info.append(single_dock_info)
return agv_info
except Exception as e:
logger.error(
'get_agv_info_from_docks error!原因：{},filename：{},line:{}'.
format(e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def func_engine(self):
try:
logger.info('Start open engine process!')
results = os.startfile(self.engine_process_path)
logger.info(
'End open engine process!,return content:{}'.format(results))
except Exception as e:
logger.error('open engine process error!原因：{}'.format(e))
def func_gui_web(self):
try:
logger.info('start open gui in web!')
command = r'cd /d ' + self.chromepath + ' && start chrome.exe http://127.0.0.1:2000'
results = os.system(command)
logger.info(
'End open gui in web!return content:{}'.format(results))
except Exception as e:
logger.error('open gui in web error!原因：{}'.format(e))
def func_rest_api(self):
try:
logger.info('start open rest_api process!')
command1 = r'cd /d ' + self.rest_api_path + ' && start ' + self.rest_api_process_name
results = os.system(command1)
logger.info(
'End open rest_api process!return content:{}'.format(results))
except Exception as e:
logger.error('open rest_api error!原因：{}'.format(e))
def Add_sheet(self, excel_name, sheet_name):
try:
wb = openpyxl.load_workbook(excel_name)
wb.create_sheet(sheet_name, index=0)
wb.save(excel_name)
except Exception as e:
logger.error('Add_sheet error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def func_monitor(self):
try:
logger.info('start open monitor process!')
command = r'cd /d ' + self.i_monitorpath + ' && start ' + self.i_monitor_process_name
results = os.system(command)
logger.info(
'End open monitor process!return content:{}'.format(results))
except Exception as e:
logger.error('open monitor error!原因：{}'.format(e))
def func_guiservice(self):
try:
logger.info('start guiservice process!')
command = r'cd /d ' + configs.guiservice_path + ' && start ' + configs.guiservice_process_name
results = os.system(command)
logger.info('End open guiservice process!return content:{}'.format(
results))
except Exception as e:
logger.error('open guiservice error!原因：{}'.format(e))
def func_om(self):
try:
logger.info('Start open om process!')
# results=os.startfile(self.engine_process_path)
command = r'cd /d ' + self.ompath + ' && start ' + configs.om_process_name
results = os.system(command)
logger.info(
'End open om process!,return content:{}'.format(results))
except Exception as e:
logger.error('open om process error!原因：{}'.format(e))
def func_nginx(self):
try:
logger.info('start ngnix process!')
command = r'cd /d ' + configs.nginx_path + ' && start ' + configs.nginx_process_name
results = os.system(command)
logger.info(
'End open nginx process!return content:{}'.format(results))
except Exception as e:
logger.error('open nginx error!原因：{}'.format(e))
def func_dispath(self):
try:
logger.info('Start open dispath process!')
command = r'cd /d ' + self.dispathpath + ' && start ' + self.i_dispath_process_name
results = os.system(command)
# results=os.startfile(self.dispath_process_path)
logger.info(
'End open dispath process!,return content:{}'.format(results))
except Exception as e:
logger.error('open dispath process error!原因：{}'.format(e))
def func_bsmonitor(self):
try:
logger.info('start open monitor')
command = r'cd /d ' + self.webmonitorpath + ' && start ' + self.monitor_process_name + ' runserver 0.0.0.0:5006 --noreload'
results = os.system(command)
print(command)
# print('monitor_open_process_path:{}'.format(self.monitor_open_process_path))
logger.info(
'End open monitor process!return content:{}'.format(results))
except Exception as e:
logger.error('open monitor error!原因：{}'.format(e))
def detele_path_files(self, path, de_file):
try:
de_path = os.path.join(path, de_file)
if os.path.exists(de_path):
os.remove(de_path)
logger.info('start detele path :{} files:{}!'.format(
path, de_file))
else:
logger.info('path :{}not exists!'.format(de_path))
except Exception as e:
logger.error('detele path :{} files error!原因：{}'.format(path, e))
def func_rest_api(self):
try:
logger.info('start open rest_api process!')
command1 = r'cd /d ' + self.rest_api_path + ' && start /min ' + self.rest_api_process_name
results = os.system(command1)
logger.info(
'End open rest_api process!return content:{}'.format(results))
except Exception as e:
logger.error(
'open rest_api error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def func_open_webmonitor_web(self):
try:
logger.info('start webmonitor in web!')
command = r'cd /d ' + self.chromepath + ' && start chrome.exe http://127.0.0.1:5006'
results = os.system(command)
logger.info(
'End webmonitor in web!return content:{}'.format(results))
except Exception as e:
logger.error(
'open webmonitor in web error!原因：{},filename：{},line:{}'.
format(e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def get_excel_info(self):
try:
workbook = xlrd.open_workbook(self.excelpath)
sheet_names = workbook.sheet_names()
for i in sheet_names:
sheet = workbook.sheet_by_name(i)
num = sheet.nrows - 1
title_list = sheet.row_values(0)
logger.info('Excel表{}的标题栏是：{},内容有{}行'.format(
i, title_list, num))
except Exception as e:
logger.error('get_excel_info error!原因：{}'.format(e))
def delete_induct_log(self):
try:
logger.info('start delete induct process log!')
process_path = [
self.dispathpath, self.enginepath, self.i_monitorpath
]
for i in process_path:
logpath = os.path.join(i, 'log')
self.d.detele_path(logpath)
logger.info('end delete induct process log!')
except Exception as e:
logger.error('delete induct process log error!原因：{}'.format(e))
def remove_sheet(self, excel_name, sheet_name):
try:
print(f'remove sheet:{sheet_name}')
wb = openpyxl.load_workbook(excel_name)
ws = wb[sheet_name]
wb.remove(ws)
wb.save(excel_name)
print("It is over")
except Exception as e:
logger.error('remove_sheet error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
def func_bsmonitor(self):
try:
logger.info('start open monitor')
command = r'cd /d ' + self.webmonitorpath + ' && start /min ' + self.monitor_process_name + ' runserver 0.0.0.0:5006 --noreload'
results = os.system(command)
print(command)
# print('monitor_open_process_path:{}'.format(self.monitor_open_process_path))
logger.info(
'End open monitor process!return content:{}'.format(results))
except Exception as e:
logger.error('open monitor error!原因：{},filename：{},line:{}'.format(
e, e.__traceback__.tb_frame.f_globals['__file__'],
e.__traceback__.tb_lineno))
