def manual_control(request, vehicle_id=0):
# 本当はvehicle_idでDB検索して存在しなければ404出したほうがいいんだけど、
# 手動操作っていう性質上パフォーマンスを重視したいのでやってない。
speed = int(request.POST.get('speed', 0))
stair_angle = int(request.POST.get('stair_angle', 0))
fork_up = int(request.POST.get('fork_up', 0))
tilt_up = int(request.POST.get('tilt_up', 0))
fork_up_value = 0
if fork_up == 1:
fork_up_value = 2500 # 現場で調整した値
elif fork_up == -1:
fork_up_value = 75 # 現場で調整した値
tilt_up_value = 0
if tilt_up == 1:
tilt_up_value = 1
elif tilt_up == -1:
tilt_up_value = -1
# データ作成して送信
send_data = utility.to_hex(0, 2) + \
utility.to_hex(utility.to_can_signed(speed), 4) + \
utility.to_hex(utility.to_can_signed(stair_angle), 4) + \
utility.to_hex(utility.to_can_signed(fork_up_value), 4) + \
utility.to_hex(utility.to_can_signed(tilt_up_value, for_1_byte=True), 2)
mqtt.send(vehicle_id,
can_const.CAN_ID_SND_MANUAL_CTRL,
send_data,
qos=mqtt.MQTT_QOS_NORMAL)
return JsonResponse({"result": True})
def auto_control_flag(request, vehicle_id=0):
set_auto_flag = int(request.POST.get('set_auto_flag', 0))
# データ作成して送信
send_data = utility.to_hex(0, 4) + utility.to_hex(
set_auto_flag, 2) + utility.to_hex(0, 10)
mqtt.send(vehicle_id, can_const.CAN_ID_SND_ACTION, send_data)
return JsonResponse({"result": True})
def __send_route_data(cls, vehicle_id, populated_data):
# 位置
can_data = (
utility.to_hex(populated_data["index"]) +
utility.to_hex(utility.to_can_signed(populated_data["x"])) +
utility.to_hex(utility.to_can_signed(populated_data["y"])) +
utility.to_hex(utility.to_can_signed(populated_data["speed"]))
)
time.sleep(cls.CAN_SEND_WAIT_TIME_SEC)
mqtt.send(vehicle_id, can_const.CAN_ID_SND_MAP_INFO_1, can_data)
# 荷上下げ関係すればflag_stopをON
if populated_data["task"] == can_const.ROUTE_TASK_LIFTUP \
or populated_data["task"] == can_const.ROUTE_TASK_LIFTUP_WITH_TURN \
or populated_data["task"] == can_const.ROUTE_TASK_LIFTDOWN \
or populated_data["task"] == can_const.ROUTE_TASK_LIFTDOWN_WITH_TURN:
populated_data["flag_stop"] = 1
# タスク
can_data = (
utility.to_hex(populated_data["index"]) +
utility.to_hex(populated_data["task"], 2) +
utility.to_hex(populated_data["flag_stop"], 2) +
utility.to_hex(utility.to_can_signed(populated_data["angle"])) +
utility.to_hex(utility.to_can_signed(populated_data["height_lift"]))
)
time.sleep(cls.CAN_SEND_WAIT_TIME_SEC)
mqtt.send(vehicle_id, can_const.CAN_ID_SND_MAP_INFO_2, can_data)
def operation_flag(request, vehicle_id=0):
emergency_flag = int(request.POST.get('emergency_flag', 0))
demo_obstacle_flag_1 = int(request.POST.get('demo_obstacle_flag_1', 0))
demo_obstacle_flag_2 = int(request.POST.get('demo_obstacle_flag_2', 0))
# データ作成して送信
send_data = \
utility.to_hex(emergency_flag, 2) + \
utility.to_hex(demo_obstacle_flag_1, 2) + \
utility.to_hex(demo_obstacle_flag_2, 2) + \
utility.to_hex(0, 10)
mqtt.send(vehicle_id, can_const.CAN_ID_SND_EMERGENCY, send_data)
return JsonResponse({"result": True})
def execute_route_operation(cls, vehicle_operation_plan_id=-1):
# ルート情報を取得する（取得不可なら500で落ちる）
vehicle_operation_plan = VehicleOperationPlan.objects.get(pk=vehicle_operation_plan_id)
route_operation_json = json.loads(vehicle_operation_plan.route_operation_json)
if len(route_operation_json) == 0:
raise ValueError
# なにもしないタスク(255)は送らない
edit_route_operation = []
for row in route_operation_json:
if row["task"] != can_const.ROUTE_TASK_NOTHING:
edit_route_operation.append(row)
# AfterTaskを2行で送信する場合は件数確認
route_count = len(edit_route_operation)
for row in edit_route_operation:
if row["afterTask"] != can_const.ROUTE_TASK_NOTHING:
route_count += 1
# TODO: バグ？件数が1件多くなる
route_count = route_count - 1
# 件数を取得してPreMap送信
mqtt.send(vehicle_operation_plan.vehicle_id, can_const.CAN_ID_SND_MAP_PRE_INFO,
utility.to_hex(vehicle_operation_plan_id) + utility.to_hex(route_count) + "00000000")
time.sleep(cls.CAN_SEND_WAIT_TIME_SEC)
for i in range(2): # どうにもECUがCANを取りこぼすので2回連続で送る
index = 1
for row in edit_route_operation:
# 初期値設定＆Populate
data = {
"index": index,
"x": int(float(row.get("x", 0)) * 1000),
"y": int(float(row.get("y", 0)) * 1000),
"speed": int(row.get("speed", 1000)),
"task": int(row.get("task", 255)),
"after_task": int(row.get("afterTask", 255)),
"flag_stop": 0,
"angle": int(row.get("angle", 0)),
"height_lift": int(row.get("liftHeight", 0))
}
# 最後の行なら必ずflag_stopをONにする
if index == len(edit_route_operation):
data["flag_stop"] = 1
# 送信
cls.__send_route_data(vehicle_operation_plan.vehicle_id, data)
# AfterTaskが定義されていれば、AfterTaskをTaskに置き換えて再送信
if data["after_task"] != 255:
data["task"] = data["after_task"]
cls.__send_route_data(vehicle_operation_plan.vehicle_id, data)
index += 1
# 実行開始
time.sleep(cls.CAN_SEND_WAIT_TIME_SEC)
mqtt.send(vehicle_operation_plan.vehicle_id, can_const.CAN_ID_SND_ACTION,
utility.to_hex(vehicle_operation_plan_id) + utility.to_hex(1, 2) + utility.to_hex(1, 2) + "00000000")