142 lines
4.3 KiB
Python
142 lines
4.3 KiB
Python
# coding=gb2312
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import json
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import os.path
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import random
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from UWB.uwb_driver import *
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this_dir = os.path.dirname(os.path.realpath(__file__))
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UWB_ASSIGNMENT_FILE_PATH = os.path.join(this_dir, "uwb_id_assignment.json")
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class MultiUWB:
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def __init__(self) -> None:
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super().__init__()
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# 搜索uwb设备
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self.uwb_driver_table = {}
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self.uwb_gather_thread = {}
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# 检查基站分配表是否存在
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if os.path.exists(UWB_ASSIGNMENT_FILE_PATH):
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with open(UWB_ASSIGNMENT_FILE_PATH, "r") as file:
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uwb_assignment = json.load(file)
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else:
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uwb_assignment = [i for i in range(8)]
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# 查找是否存在基站
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for i in range(8):
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uwb = UwbController()
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if uwb.is_initialed():
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anchor_id = uwb.anchor_id
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self.uwb_driver_table[anchor_id] = uwb
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if uwb_assignment:
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seq = uwb_assignment.pop(0)
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else:
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seq = random.randint(0, 255)
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uwb.set_anchor_config(anchor_seq=seq, anchor_no=seq)
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# else:
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# break
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# uwb记录
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self.record_log = []
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# 信号
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self.__running = threading.Event()
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self.__running.set()
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self.__get_data = threading.Event()
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self.__get_data.clear()
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"""************************************线程控制模块************************************"""
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def start(self):
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for anchor, unity in self.uwb_driver_table.items():
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unity.start()
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def pause(self):
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for anchor, unity in self.uwb_driver_table.items():
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unity.pause()
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def resume(self):
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for anchor, unity in self.uwb_driver_table.items():
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unity.resume()
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def stop(self):
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for anchor, unity in self.uwb_driver_table.items():
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unity.stop()
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# 数据记录线程
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def _record_threading(self, uwb: UwbController):
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while self.__running.is_set():
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# time.sleep(10000)
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data = uwb.get_data()
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if data:
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# print(data)
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self.record_log.append(data)
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self.__get_data.set()
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# 开始记录
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def start_all_record(self):
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self.__running.set()
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for anchor, unity in self.uwb_driver_table.items():
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unity.clear_all()
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for _ in range(5):
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if unity.set_anchor_status(MODE_POSITION):
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time.sleep(0.3)
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anchor_status = unity.get_anchor_status()
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if anchor_status == MODE_POSITION:
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break
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threading.Thread(target=self._record_threading, args=(unity, )).start()
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return True
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# 清除所有记录
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def clear_all_record(self):
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for anchor, unity in self.uwb_driver_table.items():
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unity.clear_all()
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# 停止记录
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def stop_all_record(self):
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for anchor, unity in self.uwb_driver_table.items():
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self.__running.clear()
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for _ in range(10):
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if unity.set_anchor_status(MODE_FREE):
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break
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time.sleep(0.1)
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if unity.get_anchor_status() != MODE_FREE:
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return False
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unity.clear_all()
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return True
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# 获得数据
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def get_data(self, timeout=0.1):
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self.__get_data.wait(timeout=timeout)
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if self.record_log:
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data = self.record_log.pop(0)
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return data
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else:
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self.__get_data.clear()
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# 获得全部数据
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def get_all_data(self):
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data = self.record_log.copy()
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self.record_log.clear()
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return data
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# 关闭手环
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def close_tag(self, tag_id):
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for uwb in self.uwb_driver_table.values():
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uwb.close_tag(tag_id)
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# 控制手环参数
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def set_tag(self, tag_id, freq=None, alarm_status=None, detection_config=None):
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for uwb in self.uwb_driver_table.values():
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uwb.set_tag(tag_id, freq=freq, alarm_status=alarm_status, detection_config=detection_config)
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# 关机模式：关闭周边所有的手环
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def close_all_tag(self, ):
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for uwb in self.uwb_driver_table.values():
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uwb.close_all_tag()
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# 关闭关机模式：停止关闭周边所有的手环
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def stop_close_all_tag(self):
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for uwb in self.uwb_driver_table.values():
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uwb.stop_close_all_tag()
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