mirror of
https://github.com/NanjingForestryUniversity/supermachine-woodwenli.git
synced 2025-11-08 11:53:56 +00:00
348 lines
13 KiB
Python
348 lines
13 KiB
Python
# -*- coding: utf-8 -*-
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"""
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Created on Nov 3 21:18:26 2020
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@author: l.z.y
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@e-mail: li.zhenye@qq.com
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"""
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import logging
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import os
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import shutil
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import time
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import socket
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import numpy as np
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def mkdir_if_not_exist(dir_name, is_delete=False):
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"""
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创建文件夹
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:param dir_name: 文件夹
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:param is_delete: 是否删除
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:return: 是否成功
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"""
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try:
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if is_delete:
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if os.path.exists(dir_name): # 如果 is_delete 为 True，函数会检查 dir_name 是否已经存在。
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shutil.rmtree(dir_name) # 如果存在，它会使用 shutil.rmtree 删除整个目录结构，并输出一个信息消息。
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print('[Info] 文件夹 "%s" 存在, 删除文件夹.' % dir_name)
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if not os.path.exists(dir_name): # 使用 os.path.exists 来检查 dir_name 是否存在。
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os.makedirs(dir_name) # 如果不存在，它会使用 os.makedirs 创建整个目录树。
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print('[Info] 文件夹 "%s" 不存在, 创建文件夹.' % dir_name)
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return True
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except Exception as e:
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print('[Exception] %s' % e)
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return False
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def create_file(file_name):
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"""
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创建文件
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:param file_name: 文件名
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:return: None
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"""
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if os.path.exists(file_name):
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print("文件存在：%s" % file_name)
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return False
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# os.remove(file_name) # 删除已有文件
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if not os.path.exists(file_name):
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print("文件不存在，创建文件：%s" % file_name)
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open(file_name, 'a').close()
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return True
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class Logger(object): # 日志类
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def __init__(self, is_to_file=False, path=None):
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self.is_to_file = is_to_file # 布尔值，用于决定日志是保存到文件(True)还是输出到控制台(False)
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if path is None: # 如果没有指定日志文件的路径，则默认为当前目录下的 wood.log
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path = "wood.log"
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self.path = path # 指定保存日志的文件路径。
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create_file(path) # 确保日志文件存在，如果不存在则创建它
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def log(self, content):
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if self.is_to_file: # 如果指定了日志文件的路径，则将日志信息写入到日志文件中
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with open(self.path, "a") as f: # 以追加的方式打开日志文件,'a'（Append 模式）: 在这种模式下，如果文件已经存在，新的数据会被写入到文件的末尾。如果文件不存在，它会被创建。
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print(time.strftime("[%Y-%m-%d_%H-%M-%S]:"), file=f) # 将当前时间戳和实际日志内容写入到文件，显示为[年-月-日_时-分-秒]: 的格式。
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print(content, file=f)
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else:
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print(content) # 如果没有指定日志文件的路径，则将日志信息输出到控制台
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def try_connect(connect_ip: str, port_number: int, is_repeat: bool = False, max_reconnect_times: int = 50) -> (
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bool, socket.socket):
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"""
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尝试连接.
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:param is_repeat: 是否是重新连接
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:param max_reconnect_times:最大重连次数
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:return: (连接状态True为成功, Socket / None)
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"""
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reconnect_time = 0
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while reconnect_time < max_reconnect_times:
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logging.warning(f'尝试{"重新" if is_repeat else ""}发起第{reconnect_time + 1}次连接...')
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try:
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connected_sock = PreSocket(socket.AF_INET, socket.SOCK_STREAM)
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connected_sock.connect((connect_ip, port_number))
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except Exception as e:
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reconnect_time += 1
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logging.error(f'第{reconnect_time}次连接失败... 5秒后重新连接...\n {e}')
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time.sleep(5)
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continue
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logging.warning(f'{"重新" if is_repeat else ""}连接成功')
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return True, connected_sock
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return False, None
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class PreSocket(socket.socket):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.pre_pack = b''
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self.settimeout(5)
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def receive(self, *args, **kwargs):
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if self.pre_pack == b'':
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return self.recv(*args, **kwargs)
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else:
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data_len = args[0]
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required, left = self.pre_pack[:data_len], self.pre_pack[data_len:]
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self.pre_pack = left
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return required
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def set_prepack(self, pre_pack: bytes):
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temp = self.pre_pack
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self.pre_pack = temp + pre_pack
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class DualSock(PreSocket):
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def __init__(self, connect_ip='127.0.0.1', recv_port: int = 21122, send_port: int = 21123):
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super().__init__()
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received_status, self.received_sock = try_connect(connect_ip=connect_ip, port_number=recv_port) # 这两行代码分别设置接收和发送的sockets。
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send_status, self.send_sock = try_connect(connect_ip=connect_ip, port_number=send_port)
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self.status = received_status and send_status
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def send(self, *args, **kwargs) -> int:
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return self.send_sock.send(*args, **kwargs)
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def receive(self, *args, **kwargs) -> bytes:
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return self.received_sock.receive(*args, **kwargs)
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def set_prepack(self, pre_pack: bytes):
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self.received_sock.set_prepack(pre_pack)
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def reconnect(self, connect_ip='127.0.0.1', recv_port:int = 21122, send_port: int = 21123):
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received_status, self.received_sock = try_connect(connect_ip=connect_ip, port_number=recv_port)
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send_status, self.send_sock = try_connect(connect_ip=connect_ip, port_number=send_port)
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return received_status and send_status
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def receive_sock(recv_sock: PreSocket, pre_pack: bytes = b'', time_out: float = -1.0, time_out_single=5e20) -> (
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bytes, bytes):
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"""
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从指定的socket中读取数据.
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:param recv_sock: 指定sock
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:param pre_pack: 上一包的粘包内容
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:param time_out: 每隔time_out至少要发来一次指令,否则认为出现问题进行重连，小于0则为一直等
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:param time_out_single: 单次指令超时时间，单位是秒
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:return: data, next_pack
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"""
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recv_sock.set_prepack(pre_pack)
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# 开头校验
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time_start_recv = time.time()
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while True:
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if time_out > 0:
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if (time.time() - time_start_recv) > time_out:
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logging.error(f'指令接收超时')
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return b'', b''
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try:
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temp = recv_sock.receive(1)
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except ConnectionError as e:
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logging.error(f'连接出错, 错误代码:\n{e}')
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return b'', b''
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except TimeoutError as e:
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# logging.error(f'超时了，错误代码: \n{e}')
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logging.info('运行中,等待指令..')
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continue
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except socket.timeout as e:
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logging.info('运行中,等待指令..')
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continue
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except Exception as e:
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logging.error(f'遇见未知错误，错误代码: \n{e}')
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return b'', b''
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if temp == b'\xaa':
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break
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# 接收开头后，开始进行时间记录
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time_start_recv = time.time()
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# 获取报文长度
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temp = b''
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while len(temp) < 4:
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if (time.time() - time_start_recv) > time_out_single:
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logging.error(f'单次指令接收超时')
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return b'', b''
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try:
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temp += recv_sock.receive(1)
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except Exception as e:
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logging.error(f'接收报文的长度不正确, 错误代码: \n{e}')
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return b'', b''
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try:
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data_len = int.from_bytes(temp, byteorder='big')
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except Exception as e:
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logging.error(f'转换失败,错误代码 \n{e}')
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return b'', b''
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# 读取报文内容
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temp = b''
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while len(temp) < data_len:
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if (time.time() - time_start_recv) > time_out_single:
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logging.error(f'单次指令接收超时')
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return b'', b''
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try:
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temp += recv_sock.receive(data_len)
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except Exception as e:
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logging.error(f'接收报文内容失败, 错误代码: \n{e}')
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return b'', b''
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data, next_pack = temp[:data_len], temp[data_len:]
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recv_sock.set_prepack(next_pack)
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next_pack = b''
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# 进行数据校验
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temp = b''
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while len(temp) < 3:
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if (time.time() - time_start_recv) > time_out_single:
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logging.error(f'单次指令接收超时')
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return b'', b''
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try:
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temp += recv_sock.receive(1)
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except Exception as e:
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logging.error(f'接收报文校验失败, 错误代码: \n{e}')
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return b'', b''
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if temp == b'\xff\xff\xbb':
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return data, next_pack
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else:
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logging.error(f"接收了一个完美的只错了校验位的报文")
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return b'', b''
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def parse_protocol(data: bytes) -> (str, any): # data: 参数类型为 bytes，表示接收到的报文数据。返回类型 (str, any) 表示函数返回一个元组，其中第一个元素是指令类型的字符串，第二个元素是指令对应的内容，内容的类型可以是任何类型（由指令决定）。
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"""
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指令转换.
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:param data:接收到的报文
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:return: 指令类型和内容
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"""
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try:
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assert len(data) > 4
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except AssertionError:
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logging.error('指令转换失败，长度不足5')
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return '', None
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cmd, data = data[:4], data[4:] # 从 data 中取出前 4 个字节作为指令类型，剩下的部分作为指令内容。
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cmd = cmd.decode('ascii').strip().upper() # 将指令类型转换为字符串，并去除首尾空格，然后转换为大写。
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if cmd == 'IM':
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n_rows, n_cols, img = data[:2], data[2:4], data[4:] # 按照协议,先是两个字节的行数(高),两个字节的列数(宽),后面是图像数据
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try:
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n_rows, n_cols = [int.from_bytes(x, byteorder='big') for x in [n_rows, n_cols]]
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except Exception as e:
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logging.error(f'长宽转换失败, 错误代码{e}, 报文大小: n_rows:{n_rows}, n_cols: {n_cols}')
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return '', None
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try:
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assert n_rows * n_cols * 3 == len(img)
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# 因为是float32类型 所以长度要乘12 ，如果是uint8则乘3
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except AssertionError:
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logging.error('图像指令IM转换失败，数据长度错误')
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return '', None
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img = np.frombuffer(img, dtype=np.uint8).reshape((n_rows, n_cols, -1))
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return cmd, img
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elif cmd == 'TR':
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data = data.decode('ascii')
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return cmd, data
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elif cmd == 'MD':
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data = data.decode('ascii')
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return cmd, data
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def ack_sock(send_sock: socket.socket, cmd_type: str) -> bool: # 未使用
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'''
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发送应答
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:param cmd_type:指令类型
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:param send_sock:指定sock
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:return:是否发送成功
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'''
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msg = b'\xaa\x00\x00\x00\x05' + (' A' + cmd_type).upper().encode('ascii') + b'\xff\xff\xff\xbb'
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try:
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send_sock.send(msg)
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except Exception as e:
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logging.error(f'发送应答失败，错误类型：{e}')
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return False
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return True
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def done_sock(send_sock: socket.socket, cmd_type: str, result = '') -> bool: # 未使用
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'''
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发送任务完成指令
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:param cmd_type:指令类型
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:param send_sock:指定sock
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:param result:数据
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:return:是否发送成功
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'''
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cmd_type = cmd_type.strip().upper()
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if (cmd_type == "TR") or (cmd_type == "MD"):
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if result != '':
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logging.error('结果在这种指令里很没必要')
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result = b'\xff'
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elif cmd_type == 'IM':
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if result == 0:
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result = b'H'
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elif result == 1:
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result = b'Z'
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length = len(result) + 4
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length = length.to_bytes(4, byteorder='big')
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msg = b'\xaa' +length + (' D' + cmd_type).upper().encode('ascii') + result + b'\xff\xff\xbb'
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try:
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send_sock.send(msg)
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except Exception as e:
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logging.error(f'发送完成指令失败，错误类型：{e}')
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return False
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return True
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def simple_sock(send_sock: socket.socket, cmd_type: str, result) -> bool:
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'''
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发送任务完成指令
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:param cmd_type:指令类型
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:param send_sock:指定sock
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:param result:数据
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:return:是否发送成功
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'''
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cmd_type = cmd_type.strip().upper() # 去除空格并转换为大写
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if cmd_type == 'IM':
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if result == 0:
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msg = b'H'
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elif result == 1:
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msg = b'Z'
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elif cmd_type == 'TR':
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msg = b'A'
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elif cmd_type == 'MD':
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msg = b'D'
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result = result.encode('ascii')
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result = b',' + result
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length = len(result)
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msg = msg + length.to_bytes(4, 'big') + result
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try:
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send_sock.send(msg)
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except Exception as e:
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logging.error(f'发送完成指令失败，错误类型：{e}')
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return False
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return True
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if __name__ == '__main__':
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log = Logger(is_to_file=True)
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log.log("nihao")
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import numpy as np
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a = np.ones((100, 100, 3))
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log.log(a.shape)
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