# -*- coding: utf-8 -*-
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#!/usr/bin/python
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# -*- coding: utf-8 -*
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import paho.mqtt.client as mqtt
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import json
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import time
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import db_operate
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from queue import LifoQueue
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from mysqlhelper import MySqLHelper
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from linkListUtil import Node, LinkedList
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from shapelyUtil import ShapelyUtil
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from queue import Queue
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import threading
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def gettime():
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time1=time.strftime("%Y-%m-%d %H:%M:%S",time.localtime())
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return time1
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# 服务器地址
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host = '7.65.0.207' #'10.5.226.22 7.65.0.207'
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# 通信端口 默认端口1883
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port = 1883
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username = 'eadpoint'
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password = '321123'
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objs = LinkedList()
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#[[12146938.804545141,3106558.9023983314],[12147505.698887747,3106620.0104321464],[12147188.527927307,3108004.3420571982],[12146593.188072586,3107932.8914925163]]
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#经度:121.342248, 纬度:30.814109 经度:121.335855, 纬度:30.843758 经度:121.374132, 纬度:30.849655, 经度:121.38213, 纬度:30.819001
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shapeUtil = ShapelyUtil([[12134224.8,3081410.9],[12133585.5,3084375.8],[12137413.2,3084965.5],[12138213,3081900.1]])
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arr_topic = ['uav_hw_radar']
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send_topic = ['hw_uavAddObj','hw_uavAddTrack','hw_uavRemoveObj']
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# 创建数据队列
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data_queue = Queue()
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db = MySqLHelper()
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# 连接后事件
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def on_connect(client, userdata, flags, respons_code):
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if respons_code == 0:
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# 连接成功
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print('Connection Succeed!')
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else:
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# 连接失败并显示错误代码
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print('Connect Error status {0}'.format(respons_code))
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# 订阅信息
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#client.subscribe(topic)
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for x in arr_topic:
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client.subscribe(x)
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# 发送文件
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def send_file(client, topic, filename):
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try:
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with open(filename, 'r') as file:
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for line in file:
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radarData = json.loads(line)
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#client.publish(topic, payload=json.dumps(radarData), qos=2, retain=False)
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client.publish(topic, line)
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print(f"Sent: {radarData}")
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except Exception as e:
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print(f"发生了异常: {e}")
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# 接收到数据后事件
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def on_message(client, userdata, msg):
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global dddd
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print('get a message')
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try:
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jsondata=json.loads(msg.payload)
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print(jsondata)
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countObj = 0
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countObj_ = 0
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#print(jsondata)
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if jsondata['drone'] is None:
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print('has no object data')
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else :
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for x in jsondata['drone']:
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x['deviceTime'] = time.strftime("%Y-%m-%d %H:%M:%S",time.localtime(x['time']))
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x['second'] = x['time']
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x['time'] = x['deviceTime']
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x['recvtime'] = int(time.time())
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x['lng'] = float(x['lng'])
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x['lat'] = float(x['lat'])
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x['height'] = float(x['height'])
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x['velocityH'] = float(x['velocityH'])
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x['speed'] = float(x['velocityH'])
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x['headH'] = float(x['headH'])
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x['direction'] = x['headH']
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x['isInside'] = 1 if shapeUtil.isInPolygon_(x['lng'],x['lat']) else 0
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countObj = countObj+1 if x['isInside'] == 1 else countObj
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countObj_ = countObj_+1
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x['object_id'] = x['batchNum']
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node = objs.find_by_value(x['object_id'])
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if node is None:
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objs.insert_value_to_head(x['object_id'], [x])
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node = objs.find_by_value(x['object_id'])
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if x['isInside'] == 1:
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client.publish(send_topic[0], json.dumps(x))
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data_queue.put(node.track)
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else :
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obj0 = node.track[0]
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x['direction'] = shapeUtil.angle(obj0['lat'], obj0['lng'], float(x['lat']), float(x['lng']))
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if x['isInside'] == 1:
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client.publish(send_topic[1], json.dumps(x))
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else :
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client.publish(send_topic[2],x['object_id'])
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objs.delete_by_value(x['object_id'], node.track)
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data_queue.put(node.track)
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node.track.append(x)
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print(f"区域内目标物数量：{countObj}, 上报总数：{countObj_}")
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except Exception as e:
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print(f"异常: {e}")
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def monitor_list(linked_list: LinkedList, client: mqtt.Client):
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p = linked_list.head
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countBoat = 0
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while True:
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if p is None:
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#print(f"当前区域内无人机数量：{countBoat}: ")
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p = linked_list.head
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countBoat = 0
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continue
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try:
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item = p.item
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track = p.track
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p = p.next
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if abs(track[-1]['recvtime'] - int(time.time())) > 5 :
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client.publish(send_topic[2],item)
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track[-1]['isInside'] = -1
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linked_list.delete_by_value(item, track)
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data_queue.put(track)
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#else:
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#if track[-1]['isInside'] == 1 and len(track)%20 == 1:
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#print(f"更新状态:{item}")
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#data_queue.put(track)
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countBoat = countBoat+1 if track[-1]['isInside'] == 1 else countBoat
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except Exception as e:
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print(f"监控异常: {e}")
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def queueListen(data_queue):
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while True:
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data = data_queue.get()
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if data is None:
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continue
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#print(f"无人机： {data[-1]['object_id']} 状态： {data[-1]['isInside']}")
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db_operate.uav_hw_dt_save(data[-1]['object_id'],data)
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def main():
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db_operate.uav_hw_old_dt_clean()
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#队列监听
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db_thread = threading.Thread(target=queueListen, args=(data_queue,))
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db_thread.start()
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client = mqtt.Client()
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# 注册事件
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client.on_connect = on_connect
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client.on_message = on_message
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# 设置账号密码（如果需要的话）
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client.username_pw_set(username, password=password)
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# 连接到服务器
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client.connect(host, port=port, keepalive=60)
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list_thread = threading.Thread(target=monitor_list, args=(objs, client))
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list_thread.start()
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# 守护连接状态
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client.loop_forever()
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if __name__ == '__main__':
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#print(time.strftime("%Y-%m-%d %H:%M:%S",time.localtime(1712900732)))
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main()
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