730 lines
22 KiB
Python
730 lines
22 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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"""
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设备处理器快速入门示例
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演示新的简化批量注册接口 - 自动生成MQTT topics
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支持华瑞、仙工等品牌小车的批量注册和自动消息转发
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基于device_ids的通用设备注册方法
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"""
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def boot():
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"""脚本启动函数 - 演示新的简化接口"""
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print("=== 设备处理器快速入门示例 ===")
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# 1. 最简单的自动透传（推荐用法）
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example_1_auto_forward()
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# 2. 自定义处理器
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example_2_custom_handler()
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# 3. 指定特定指令类型
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example_3_specific_commands()
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# 4. 仙工品牌示例
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example_4_seer_vehicles()
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# 5. 混合设备类型示例
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example_5_mixed_device_types()
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print("=== 设备处理器注册完成 ===")
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def example_1_auto_forward():
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"""示例1: 最简单的自动透传（推荐用法）"""
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print("1. 批量注册华瑞小车自动透传")
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# 批量注册华瑞小车，系统自动生成topics和透传逻辑
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VWED.device.register_and_run(
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device_ids=["AGV001", "AGV002", "AGV003"],
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device_type="vehicle",
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brand_name="huarui",
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script_id="example_script_001",
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description="华瑞小车批量自动透传"
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)
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print("华瑞小车批量注册成功")
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# 系统会自动：
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# 监听: oagv/v2/VWED_001_IRAYPLE/+/order 等
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# 转发: uagv/v2.0.0/IRAYPLE/AGV001/order 等
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def example_2_custom_handler():
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"""示例2: 自定义处理器"""
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print("2. 自定义华瑞小车处理器")
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def my_custom_handler(message):
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"""自定义消息处理器"""
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print(f"收到消息: {message.topic}")
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print(f"载荷: {message.payload}")
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# 可以修改消息内容
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modified_payload = message.payload.copy()
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modified_payload["processed_by"] = "my_script"
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modified_payload["processed_at"] = VWED.util.now()
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# 返回处理结果
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return {
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"forward": True, # 是否转发
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"payload": modified_payload, # 修改后的载荷
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"topics": message.target_topics # 转发到的topics
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}
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# 使用自定义处理器批量注册
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VWED.device.register_and_run(
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device_ids=["AGV001", "AGV002"],
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device_type="vehicle",
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brand_name="huarui",
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handler=my_custom_handler,
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script_id="example_script_002",
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description="自定义华瑞小车处理器"
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)
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def example_3_specific_commands():
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"""示例3: 指定特定指令类型"""
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print("3. 指定特定指令类型")
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def order_and_state_handler(message):
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"""只处理order和state指令"""
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command_type = message.topic.split('/')[-1]
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if command_type == "order":
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print(f"处理订单指令: {message.payload}")
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elif command_type == "state":
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print(f"处理状态消息: {message.payload}")
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return {
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"forward": True,
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"payload": message.payload
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}
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# 只监听和转发order和state指令
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VWED.device.register_and_run(
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device_ids=["AGV001"],
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device_type="vehicle",
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brand_name="seer",
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command_types=["order", "state"], # 只处理这两种指令
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handler=order_and_state_handler,
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)
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def example_4_seer_vehicles():
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"""示例4: 仙工品牌小车处理"""
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print("4. 仙工品牌小车处理")
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def seer_handler(message):
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"""仙工小车处理器"""
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print(f"仙工小车消息: {message.topic}")
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# 根据消息类型进行不同处理
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command_type = message.topic.split('/')[-1]
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if command_type == "state":
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# 状态消息特殊处理
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battery_level = message.payload.get("batteryLevel", 100)
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if battery_level < 20:
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print(f"警告：小车电量低 {battery_level}%")
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return {"forward": True, "payload": message.payload}
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# 批量注册仙工小车处理器
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VWED.device.register_and_run(
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device_ids=["SEER_001", "SEER_002"],
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device_type="vehicle",
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brand_name="seer",
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handler=seer_handler,
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script_id="example_script_004",
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description="仙工小车处理器"
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)
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def example_5_mixed_device_types():
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"""示例5: 混合设备类型批量注册"""
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print("5. 混合设备类型批量注册")
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def mixed_handler(message):
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"""混合设备处理器"""
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print(f"混合设备处理器收到消息: {message.topic}")
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device_id = message.topic.split('/')[-2] # 提取设备ID
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print(f"设备 {device_id} 发送消息")
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return {"forward": True, "payload": message.payload}
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# 批量注册多个设备（包括小车和其他设备类型）
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VWED.device.register_and_run(
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device_ids=["AGV_001", "DOOR_001", "CALLER_001"],
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device_type="vehicle", # 主要设备类型
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brand_name="huarui",
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handler=mixed_handler,
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script_id="example_script_005",
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description="混合设备批量处理器"
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)
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def register_door_handler():
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"""注册门禁处理器"""
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VWED.device.register_and_run(
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device_ids=["door_demo_main"],
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device_type="door",
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handler=door_access_controller,
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script_id="door_demo_001",
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description="演示门禁访问控制器"
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)
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def register_caller_handler():
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"""注册呼叫器处理器"""
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VWED.device.register_and_run(
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device_ids=["caller_demo_lobby"],
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device_type="caller",
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handler=caller_signal_processor,
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script_id="caller_demo_001",
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description="演示呼叫器信号处理器"
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)
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def register_sensor_handler():
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"""注册传感器处理器"""
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VWED.device.register_and_run(
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device_ids=["sensor_demo_env"],
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device_type="sensor",
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handler=environmental_processor,
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script_id="sensor_demo_001",
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description="演示环境传感器处理器"
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)
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# ==================== 设备处理函数 ====================
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def agv_command_processor(message):
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"""AGV命令处理函数 - MQTT消息到达时自动执行"""
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VWED.log.sync_info(f"AGV收到命令: {message.payload}")
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command = message.payload.get("command")
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if command == "move":
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# 移动命令 - 添加安全检查
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x = message.payload.get("x", 0)
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y = message.payload.get("y", 0)
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speed = message.payload.get("speed", 100)
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# 限制最大速度为50
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safe_speed = min(speed, 50)
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# 构建安全移动命令
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safe_command = {
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"command": "move_safe",
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"x": x,
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"y": y,
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"speed": safe_speed,
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"safety_check": True,
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"original_speed": speed,
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"processed_by": "agv_demo_001",
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"timestamp": VWED.util.now()
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}
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if speed != safe_speed:
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VWED.log.sync_warning(f"AGV速度已限制: {speed} -> {safe_speed}")
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VWED.log.sync_info(f"AGV安全命令生成: {safe_command}")
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return {
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"forward": True,
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"payload": safe_command
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}
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elif command == "stop":
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# 停止命令 - 直接转发
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stop_command = {
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"command": "emergency_stop",
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"reason": message.payload.get("reason", "manual"),
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"timestamp": VWED.util.now()
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}
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VWED.log.sync_info("AGV紧急停止命令")
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return {
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"forward": True,
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"payload": stop_command
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}
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else:
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# 未知命令
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VWED.log.sync_warning(f"AGV未知命令: {command}")
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return {
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"forward": False,
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"response": {
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"status": "error",
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"message": f"不支持的命令: {command}"
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},
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"response_topic": "demo/agv/response"
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}
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def huarui_agv_processor(message):
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"""华睿AGV处理函数 - 支持华睿协议自动编码/解码"""
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VWED.log.sync_info(f"华睿AGV收到消息: {message.payload}")
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# 由于启用了auto_encode=True，华睿协议已自动解码message.payload
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# 这里收到的是标准格式的数据
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action = message.payload.get("action")
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if action == "status_update":
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# 状态更新 - 添加业务逻辑处理
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status = message.payload.get("status")
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position = message.payload.get("position", {})
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battery = message.payload.get("battery", 0)
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VWED.log.sync_info(f"华睿AGV状态: {status}, 位置: {position}, 电量: {battery}%")
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# 低电量预警
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if battery < 20:
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VWED.log.sync_warning(f"华睿AGV电量不足: {battery}%")
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# 发送充电指令（会自动编码为华睿协议格式）
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return {
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"forward": True,
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"payload": {
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"action": "move",
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"x": 0, # 充电桩位置
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"y": 0,
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"speed": 30,
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"task_id": f"charge_{VWED.util.timestamp()}"
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}
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}
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# 正常状态，无需特殊处理
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return {"forward": False}
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else:
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VWED.log.sync_info(f"华睿AGV消息已处理: {action}")
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return {"forward": False}
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def seer_agv_processor(message):
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"""仙工AGV处理函数 - 支持仙工协议自动编码/解码"""
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VWED.log.sync_info(f"仙工AGV收到消息: {message.payload}")
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# 仙工协议已自动解码，这里处理标准格式数据
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action = message.payload.get("action")
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if action == "status_update":
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status = message.payload.get("status")
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position = message.payload.get("position", {})
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velocity = message.payload.get("velocity", 0)
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VWED.log.sync_info(f"仙工AGV状态: {status}, 位置: {position}, 速度: {velocity}")
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# 仙工特定的逻辑处理
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if status == "error":
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VWED.log.sync_error("仙工AGV出现错误，发送重启指令")
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# 发送重启指令（会自动编码为仙工协议格式）
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return {
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"forward": True,
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"payload": {
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"action": "stop",
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"reason": "error_recovery"
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}
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}
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return {"forward": False}
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else:
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VWED.log.sync_info(f"仙工AGV消息已处理: {action}")
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return {"forward": False}
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def door_access_controller(message):
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"""门禁访问控制函数"""
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card_id = message.payload.get("card_id")
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door_id = message.payload.get("door_id", "main")
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VWED.log.sync_info(f"门禁访问请求: 卡号={card_id}, 门={door_id}")
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# 简单的白名单验证
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whitelist = ["DEMO001", "DEMO002", "DEMO003"]
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if card_id in whitelist:
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# 授权开门
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open_command = {
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"action": "open",
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"door_id": door_id,
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"card_id": card_id,
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"authorized": True,
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"open_duration": 5, # 5秒
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"timestamp": VWED.util.now()
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}
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VWED.log.sync_info(f"门禁访问已授权: {card_id}")
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return {
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"forward": True,
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"payload": open_command
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}
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else:
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# 拒绝访问
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VWED.log.sync_warning(f"门禁访问被拒绝: {card_id}")
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return {
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"forward": False,
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"response": {
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"status": "denied",
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"card_id": card_id,
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"reason": "unauthorized",
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"timestamp": VWED.util.now()
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},
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"response_topic": "demo/door/response"
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}
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def caller_signal_processor(message):
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"""呼叫器信号处理函数"""
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caller_id = message.payload.get("caller_id")
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signal_type = message.payload.get("signal_type", "service")
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location = message.payload.get("location", "unknown")
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VWED.log.sync_info(f"呼叫信号: {caller_id} - {signal_type} @ {location}")
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if signal_type == "emergency":
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# 紧急呼叫
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response = {
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"type": "emergency_response",
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"caller_id": caller_id,
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"location": location,
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"status": "received",
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"response_team": "security",
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"estimated_time": "2 minutes",
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"message": "紧急响应团队已派遣",
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"timestamp": VWED.util.now()
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}
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VWED.log.sync_error(f"紧急呼叫处理: {caller_id}")
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elif signal_type == "service":
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# 服务请求
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response = {
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"type": "service_response",
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"caller_id": caller_id,
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"location": location,
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"status": "queued",
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"queue_position": 1,
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"estimated_time": "5 minutes",
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"message": "服务请求已接收",
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"timestamp": VWED.util.now()
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}
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VWED.log.sync_info(f"服务请求处理: {caller_id}")
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else:
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# 其他类型
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response = {
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"type": "info_response",
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"caller_id": caller_id,
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"status": "received",
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"message": "请求已收到",
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"timestamp": VWED.util.now()
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}
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return {
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"forward": True,
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"payload": response
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}
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def environmental_processor(message):
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"""环境传感器处理函数"""
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sensor_id = message.payload.get("sensor_id")
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temperature = message.payload.get("temperature")
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humidity = message.payload.get("humidity")
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VWED.log.sync_info(f"环境数据: 传感器={sensor_id}, 温度={temperature}°C, 湿度={humidity}%")
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control_commands = []
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# 温度控制逻辑
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if temperature is not None:
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if temperature > 26:
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control_commands.append({
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"device": "ac",
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"action": "cool",
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"target_temp": 24,
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"reason": f"温度过高: {temperature}°C"
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})
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VWED.log.sync_info(f"启动制冷: 目标温度24°C")
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elif temperature < 20:
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control_commands.append({
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"device": "heater",
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"action": "heat",
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"target_temp": 22,
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"reason": f"温度过低: {temperature}°C"
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})
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VWED.log.sync_info(f"启动加热: 目标温度22°C")
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# 湿度控制逻辑
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if humidity is not None and humidity > 70:
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control_commands.append({
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"device": "dehumidifier",
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"action": "on",
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"target_humidity": 60,
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"reason": f"湿度过高: {humidity}%"
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})
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VWED.log.sync_info(f"启动除湿: 目标湿度60%")
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if control_commands:
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# 有控制指令需要发送
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hvac_control = {
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"sensor_id": sensor_id,
|
||
"controls": control_commands,
|
||
"timestamp": VWED.util.now()
|
||
}
|
||
|
||
return {
|
||
"forward": True,
|
||
"payload": hvac_control
|
||
}
|
||
else:
|
||
# 环境正常，不需要控制
|
||
VWED.log.sync_info("环境参数正常，无需调整")
|
||
return {"forward": False}
|
||
|
||
|
||
# ==================== 测试和管理函数 ====================
|
||
|
||
def test_device_handlers():
|
||
"""测试设备处理器功能"""
|
||
|
||
VWED.log.sync_info("开始测试设备处理器...")
|
||
|
||
# 测试AGV
|
||
VWED.device.sync_publish_message(
|
||
topic="demo/agv/command",
|
||
payload={
|
||
"command": "move",
|
||
"x": 100,
|
||
"y": 200,
|
||
"speed": 80
|
||
}
|
||
)
|
||
|
||
# 测试门禁
|
||
VWED.device.sync_publish_message(
|
||
topic="demo/door/access_request",
|
||
payload={
|
||
"card_id": "DEMO001",
|
||
"door_id": "main_entrance"
|
||
}
|
||
)
|
||
|
||
# 测试呼叫器
|
||
VWED.device.sync_publish_message(
|
||
topic="demo/caller/signal",
|
||
payload={
|
||
"caller_id": "LOBBY_01",
|
||
"signal_type": "service",
|
||
"location": "main_lobby"
|
||
}
|
||
)
|
||
|
||
# 测试传感器
|
||
VWED.device.sync_publish_message(
|
||
topic="demo/sensor/data",
|
||
payload={
|
||
"sensor_id": "ENV_001",
|
||
"temperature": 28,
|
||
"humidity": 75
|
||
}
|
||
)
|
||
|
||
VWED.log.sync_info("设备处理器测试完成")
|
||
|
||
|
||
def get_device_status():
|
||
"""获取所有设备处理器状态"""
|
||
|
||
handlers = VWED.device.get_running_handlers()
|
||
|
||
VWED.log.sync_info("=== 设备处理器状态 ===")
|
||
VWED.log.sync_info(f"设备总数: {handlers.get('device_count', 0)}")
|
||
VWED.log.sync_info(f"运行中: {handlers.get('running_devices', 0)}")
|
||
|
||
devices = handlers.get("devices", {})
|
||
for device_id, status in devices.items():
|
||
VWED.log.sync_info(f"设备 {device_id}: 消息处理 {status.get('total_messages', 0)} 条")
|
||
|
||
return handlers
|
||
|
||
|
||
# ==================== 工具函数 ====================
|
||
|
||
def stop_all_handlers():
|
||
"""停止所有设备处理器（用于测试）"""
|
||
|
||
handlers = ["agv_demo_001", "door_demo_main", "caller_demo_lobby", "sensor_demo_env"]
|
||
|
||
for device_id in handlers:
|
||
try:
|
||
VWED.device.stop_handler(device_id)
|
||
VWED.log.sync_info(f"已停止设备处理器: {device_id}")
|
||
except Exception as e:
|
||
VWED.log.sync_warning(f"停止设备处理器失败 {device_id}: {e}")
|
||
|
||
|
||
def show_device_types():
|
||
"""显示支持的设备类型"""
|
||
|
||
device_types = VWED.device.get_device_types()
|
||
VWED.log.sync_info(f"支持的设备类型: {', '.join(device_types)}")
|
||
|
||
return device_types
|
||
|
||
|
||
def show_device_brands():
|
||
"""显示支持的设备品牌"""
|
||
|
||
device_brands = VWED.device.get_device_brands()
|
||
VWED.log.sync_info(f"支持的设备品牌: {', '.join(device_brands)}")
|
||
|
||
return device_brands
|
||
|
||
|
||
def show_available_protocols():
|
||
"""显示所有可用的协议"""
|
||
|
||
protocols = VWED.device.get_protocols()
|
||
|
||
VWED.log.sync_info("=== 可用的设备协议 ===")
|
||
for protocol_key, protocol_info in protocols.items():
|
||
brand = protocol_info.get("brand", "unknown")
|
||
device_type = protocol_info.get("device_type", "unknown")
|
||
commands = protocol_info.get("supported_commands", [])
|
||
|
||
VWED.log.sync_info(f"协议: {protocol_key}")
|
||
VWED.log.sync_info(f" 品牌: {brand}")
|
||
VWED.log.sync_info(f" 设备类型: {device_type}")
|
||
VWED.log.sync_info(f" 支持指令: {', '.join(commands)}")
|
||
VWED.log.sync_info("")
|
||
|
||
return protocols
|
||
|
||
|
||
def test_protocol_encoding():
|
||
"""测试协议编码功能"""
|
||
|
||
VWED.log.sync_info("=== 测试协议编码功能 ===")
|
||
|
||
# 测试华睿协议编码
|
||
huarui_test = VWED.device.test_protocol_encoding(
|
||
protocol_key="huarui_vehicle",
|
||
test_command={
|
||
"action": "move",
|
||
"x": 100,
|
||
"y": 200,
|
||
"speed": 50,
|
||
"task_id": "test_001"
|
||
}
|
||
)
|
||
|
||
if huarui_test["success"]:
|
||
VWED.log.sync_info("华睿协议编码测试成功:")
|
||
VWED.log.sync_info(f" 原始指令: {huarui_test['original']}")
|
||
VWED.log.sync_info(f" 编码后: {huarui_test['encoded']}")
|
||
else:
|
||
VWED.log.sync_error(f"华睿协议编码测试失败: {huarui_test['error']}")
|
||
|
||
# 测试仙工协议编码
|
||
seer_test = VWED.device.test_protocol_encoding(
|
||
protocol_key="seer_vehicle",
|
||
test_command={
|
||
"action": "move",
|
||
"x": 150,
|
||
"y": 250,
|
||
"speed": 1500, # 仙工使用mm/s
|
||
"task_id": "test_002"
|
||
}
|
||
)
|
||
|
||
if seer_test["success"]:
|
||
VWED.log.sync_info("仙工协议编码测试成功:")
|
||
VWED.log.sync_info(f" 原始指令: {seer_test['original']}")
|
||
VWED.log.sync_info(f" 编码后: {seer_test['encoded']}")
|
||
else:
|
||
VWED.log.sync_error(f"仙工协议编码测试失败: {seer_test['error']}")
|
||
|
||
return {"huarui": huarui_test, "seer": seer_test}
|
||
|
||
|
||
def register_custom_protocol_example():
|
||
"""注册自定义协议示例"""
|
||
|
||
def my_encode(command):
|
||
"""自定义编码函数"""
|
||
return {
|
||
"header": {
|
||
"version": "1.0",
|
||
"timestamp": VWED.util.timestamp()
|
||
},
|
||
"body": {
|
||
"cmd_type": command.get("action", "unknown"),
|
||
"params": command
|
||
}
|
||
}
|
||
|
||
def my_decode(response):
|
||
"""自定义解码函数"""
|
||
body = response.get("body", {})
|
||
return {
|
||
"action": "status_update",
|
||
"data": body,
|
||
"decoded_at": VWED.util.now()
|
||
}
|
||
|
||
# 注册自定义协议
|
||
VWED.device.register_custom_protocol(
|
||
protocol_key="my_custom_agv",
|
||
brand="my_brand",
|
||
device_type="vehicle",
|
||
encode_func=my_encode,
|
||
decode_func=my_decode,
|
||
supported_commands=["move", "stop", "pause", "status"]
|
||
)
|
||
|
||
VWED.log.sync_info("自定义协议注册完成")
|
||
|
||
# 测试自定义协议
|
||
test_result = VWED.device.test_protocol_encoding(
|
||
protocol_key="my_custom_agv",
|
||
test_command={
|
||
"action": "move",
|
||
"x": 300,
|
||
"y": 400
|
||
}
|
||
)
|
||
|
||
if test_result["success"]:
|
||
VWED.log.sync_info("自定义协议测试成功:")
|
||
VWED.log.sync_info(f" 编码结果: {test_result['encoded']}")
|
||
else:
|
||
VWED.log.sync_error(f"自定义协议测试失败: {test_result['error']}")
|
||
|
||
return test_result |