LISHUZUOXUN_yangjiang/UWB/multi_uwb.py

# coding=gb2312
import json
import os.path
import random

from UWB.uwb_driver import *

this_dir = os.path.dirname(os.path.realpath(__file__))
UWB_ASSIGNMENT_FILE_PATH = os.path.join(this_dir, "uwb_id_assignment.json")


class MultiUWB:

    def __init__(self) -> None:
        super().__init__()
        # <20><><EFBFBD><EFBFBD>uwb<77>豸
        self.uwb_driver_table = {}
        self.uwb_gather_thread = {}
        # <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>վ<EFBFBD><D5BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
        if os.path.exists(UWB_ASSIGNMENT_FILE_PATH):
            with open(UWB_ASSIGNMENT_FILE_PATH, "r") as file:
                uwb_assignment = json.load(file)
        else:
            uwb_assignment = [i for i in range(8)]
        # <20><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ڻ<EFBFBD>վ
        for i in range(8):
            uwb = UwbController()
            if uwb.is_initialed():
                anchor_id = uwb.anchor_id
                self.uwb_driver_table[anchor_id] = uwb
                if uwb_assignment:
                    seq = uwb_assignment.pop(0)
                else:
                    seq = random.randint(0, 255)
                uwb.set_anchor_config(anchor_seq=seq, anchor_no=seq)
            # else:
            #     break
        # uwb<77><62>¼
        self.record_log = []
        # <20>ź<EFBFBD>
        self.__running = threading.Event()
        self.__running.set()
        self.__get_data = threading.Event()
        self.__get_data.clear()

    """************************************<2A>߳̿<DFB3><CCBF><EFBFBD>ģ<EFBFBD><C4A3>************************************"""

    def start(self):
        for anchor, unity in self.uwb_driver_table.items():
            unity.start()

    def pause(self):
        for anchor, unity in self.uwb_driver_table.items():
            unity.pause()

    def resume(self):
        for anchor, unity in self.uwb_driver_table.items():
            unity.resume()

    def stop(self):
        for anchor, unity in self.uwb_driver_table.items():
            unity.stop()

    # <20><><EFBFBD>ݼ<EFBFBD>¼<EFBFBD>߳<EFBFBD>
    def _record_threading(self, uwb: UwbController):
        while self.__running.is_set():
            # time.sleep(10000)
            data = uwb.get_data()
            if data:
                # print(data)
                self.record_log.append(data)
                self.__get_data.set()

    # <20><>ʼ<EFBFBD><CABC>¼
    def start_all_record(self):
        self.__running.set()
        for anchor, unity in self.uwb_driver_table.items():
            unity.clear_all()
            for _ in range(5):
                if unity.set_anchor_status(MODE_POSITION):
                    time.sleep(0.3)
                    anchor_status = unity.get_anchor_status()
                    if anchor_status == MODE_POSITION:
                        break
            threading.Thread(target=self._record_threading, args=(unity, )).start()
        return True

    # <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD>¼
    def clear_all_record(self):
        for anchor, unity in self.uwb_driver_table.items():
            unity.clear_all()

    # ֹͣ<CDA3><D6B9>¼
    def stop_all_record(self):
        for anchor, unity in self.uwb_driver_table.items():
            self.__running.clear()
            for _ in range(10):
                if unity.set_anchor_status(MODE_FREE):
                    break
                time.sleep(0.1)
            if unity.get_anchor_status() != MODE_FREE:
                return False
            unity.clear_all()
        return True

    # <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    def get_data(self, timeout=0.1):
        self.__get_data.wait(timeout=timeout)
        if self.record_log:
            data = self.record_log.pop(0)
            return data
        else:
            self.__get_data.clear()

    # <20><><EFBFBD><EFBFBD>ȫ<EFBFBD><C8AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    def get_all_data(self):
        data = self.record_log.copy()
        self.record_log.clear()
        return data

    # <20>ر<EFBFBD><D8B1>ֻ<EFBFBD>
    def close_tag(self, tag_id):
        for uwb in self.uwb_driver_table.values():
            uwb.close_tag(tag_id)

    # <20><><EFBFBD><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD><EFBFBD><EFBFBD>
    def set_tag(self, tag_id, freq=None, alarm_status=None, detection_config=None):
        for uwb in self.uwb_driver_table.values():
            uwb.set_tag(tag_id, freq=freq, alarm_status=alarm_status, detection_config=detection_config)

    # <20>ػ<EFBFBD>ģʽ<C4A3><CABD><EFBFBD>ر<EFBFBD><D8B1>ܱ<EFBFBD><DCB1><EFBFBD><EFBFBD>е<EFBFBD><D0B5>ֻ<EFBFBD>
    def close_all_tag(self, ):
        for uwb in self.uwb_driver_table.values():
            uwb.close_all_tag()


    # <20>رչػ<D5B9>ģʽ<C4A3><CABD>ֹͣ<CDA3>ر<EFBFBD><D8B1>ܱ<EFBFBD><DCB1><EFBFBD><EFBFBD>е<EFBFBD><D0B5>ֻ<EFBFBD>
    def stop_close_all_tag(self):
        for uwb in self.uwb_driver_table.values():
            uwb.stop_close_all_tag()