142 lines
5.2 KiB
Python
142 lines
5.2 KiB
Python
# -*- coding: utf-8 -*-
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from threading import Thread
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from time import sleep, time
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from traceback import format_exc
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from loguru import logger
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from common.YmlConstant import mqtt_yml_path
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from util.RWUtils import getConfigs
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from common.Constant import init_progess
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from enums.AnalysisStatusEnum import AnalysisStatus
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from entity.FeedBack import message_feedback
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from enums.ExceptionEnum import ExceptionType
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from exception.CustomerException import ServiceException
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from util.QueUtil import get_no_block_queue, put_queue, clear_queue
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from multiprocessing import Process, Queue
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import paho.mqtt.client as mqtt
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import json,os
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class PullMqtt(Thread):
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__slots__ = ('__fb_queue', '__mqtt_list', '__request_id', '__analyse_type', "_context")
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def __init__(self, *args):
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super().__init__()
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self.__fb_queue, self.__mqtt_list, self.__request_id, self.__analyse_type, self._context = args
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base_dir, env = self._context["base_dir"], self._context["env"]
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self.__config = getConfigs(os.path.join(base_dir, mqtt_yml_path % env))
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self.__broker = self.__config["broker"]
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self.__port = self.__config["port"]
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self.__topic = self.__config["topic"]
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self.__lengthMqttList = self.__config["length"]
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def put_queue(self,__queue,data):
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if __queue.full():
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a = __queue.get()
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__queue.put( data,block=True, timeout=2 )
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def on_connect(self,client,userdata,flags,rc):
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client.subscribe(self.__topic)
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# 当接收到MQTT消息时，回调函数
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def on_message(self,client, userdata, msg):
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# 将消息解码为JSON格式
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payload = msg.payload.decode('utf-8')
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data = json.loads(payload)
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#logger.info(str(data))
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# 解析位姿信息
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lon = data.get("lon")
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lat = data.get("lat")
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alt = data.get("alt")
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yaw = data.get("yaw")
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pitch = data.get("pitch")
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roll = data.get("roll")
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if len(self.__mqtt_list) == self.__lengthMqttList:
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self.__mqtt_list.pop(0)
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self.__mqtt_list.append(data)
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# 打印无人机的位姿信息
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#print(f"Longitude: {lon}, Latitude: {lat}, Altitude: {alt}, sat:{data.get('satcount')} , list length:{len(self.__mqtt_list)}")
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def mqtt_connect(self):
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# 创建客户端
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self.client = mqtt.Client()
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self.client.on_connect = self.on_connect
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# 设置回调函数
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self.client.on_message = self.on_message
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# 连接到 Broker
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self.client.connect(self.__broker, self.__port)
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# 订阅主题
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self.client.subscribe(self.__topic)
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# 循环等待并处理网络事件
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self.client.loop_forever()
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def mqtt_disconnect(self):
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start_time = time()
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while True:
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if time() - start_time > service_timeout:
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logger.error("MQTT读取超时, requestId: %s,限定时间：%.1s , 已运行：%.1fs"%(request_id,service_timeout, time() - start_time))
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raise ServiceException(ExceptionType.TASK_EXCUTE_TIMEOUT.value[0],
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ExceptionType.TASK_EXCUTE_TIMEOUT.value[1])
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client.loop_stop() # 停止循环
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client.disconnect() # 断开连接
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def run(self):
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request_id, mqtt_list, progress = self.__request_id, self.__mqtt_list, init_progess
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analyse_type, fb_queue = self.__analyse_type, self.__fb_queue
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#service_timeout = int(self.__config["service"]["timeout"]) + 120
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try:
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logger.info("开始MQTT读取线程！requestId:{}", request_id)
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mqtt_init_num = 0
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self.mqtt_connect()
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except Exception:
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logger.error("MQTT线程异常:{}, requestId:{}", format_exc(), request_id)
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finally:
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mqtt_list = []
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logger.info("MQTT线程停止完成！requestId:{}", request_id)
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def start_PullMqtt(fb_queue, mqtt_list, request_id, analyse_type, context):
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mqtt_thread = PullMqtt(fb_queue, mqtt_list, request_id, analyse_type, context)
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mqtt_thread.setDaemon(True)
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mqtt_thread.start()
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return mqtt_thread
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def start_PullVideo(mqtt_list):
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for i in range(1000):
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sleep(1)
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if len(mqtt_list)>=10:
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print( mqtt_list[4])
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print(i,len(mqtt_list))
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if __name__=="__main__":
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#context = {'service':{'timeout':3600},'mqtt':{
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# 'broker':"101.133.163.127",'port':1883,'topic':"test/topic","length":10}
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# }
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context = {
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'base_dir':'/home/th/WJ/test/tuoheng_algN',
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'env':'test'
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}
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analyse_type = '1'
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request_id = '123456789'
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event_queue, pull_queue, mqtt_list, image_queue, push_queue, push_ex_queue = Queue(), Queue(10), [], Queue(), Queue(), Queue()
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fb_queue = Queue()
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mqtt_thread = start_PullMqtt(fb_queue, mqtt_list, request_id, analyse_type, context)
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start_PullVideo(mqtt_list)
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print('---line117--')
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#mqtt_thread.join()
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