import sys sys.dont_write_bytecode = True import os from PyQt5.QtWidgets import QApplication import RPi.GPIO as gpio from array import * import time import subprocess import signal import hashlib import json from threading import Lock from video_player import client_play_video, find_file, get_length, get_timeout, \ set_Flag_LoopingVideoPlayer, video, remove_createdVideos from stepper_controller import Thread, autotest, return_start, stepperJustGo, steppermovement, initialize_gpio_pins, get_thisstep, set_Flag_JustGo, get_Flag_JustGo from led_controller import GREEN, YELLOW, waitingmode_start, waitingmode_fin, LEDRGB from client_handler import get_message_play_video, get_setting_client, new_socket, setting_server, \ onClient, request_above, \ client_request, setting_request, join_thread, \ filepath_setting_request, \ get_filepath_settinh_client lock = Lock() # autotest_filaname = "VDNHzastavka.mp4" # autotest_filaname = "waf.mp4" def calculate_hash(directory): hash_md5 = hashlib.md5() ignore_extensions = ('.log', '.tmp', '.pyc', '.swp') # Расширяем список игнорируемых файлов ignore_files = ('package.json',) # Игнорируем файл package.json all_files = [] for root, dirs, files in os.walk(directory): for file in files: if not file.endswith(ignore_extensions) and file not in ignore_files: file_path = os.path.join(root, file) all_files.append(file_path) all_files.sort() # Гарантируем одинаковый порядок файлов for file_path in all_files: with open(file_path, "rb") as f: for chunk in iter(lambda: f.read(4096), b""): hash_md5.update(chunk) print(f"Processed: {file_path}") # Логируем обработанные файлы return hash_md5.hexdigest() def update_package_json(): project_directory = '/home/blade/Documents/neuro-fluger/controllers-101' project_hash = calculate_hash(project_directory) package_data = { "name": "neuro-fluger", "description": "Сервер лопасти нейрофлюгера", "version": "1.0.0", "main": "main.py", "authors": "Игорь Сорока, Владислав Голев, ООО НЕЙРО-СИТИ", "license": "MIT", "hash": project_hash } with open(os.path.join(project_directory, 'package.json'), 'w', encoding='utf-8') as json_file: json.dump(package_data, json_file, indent=4, ensure_ascii=False) def handle_navigation_null(): global client_socket, reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting, thisstep, \ autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, filepath_settinh_client, filepath, setting_client if thisstep == 0: print('Зашли в navig_null and thisstep=0') print(f"Запрос клиента выполнен: {setting_request()}") setting_client = get_setting_client() print(f"Очередь команд: {setting_client}") onClient("Запрос клиента выполнен", client_socket) time.sleep(.1) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) setting_client = get_setting_client() if setting_client: setting_client.pop(0) if filepath_settinh_client and filepath_settinh_client[0]: while filepath_settinh_client and filepath_settinh_client[0] == "0": print(f'Вывод массива с видео перед исключением из него нулей: {filepath_settinh_client}') setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) print('Массив с названиями видео очищен от нулей.') join_thread() return True else: print('Зашли в navig_null in ELSE') time.sleep(.1) try: if request_above(False): return True except Exception as e: print("Error:", str(e)) setting_client = get_setting_client() print(f"Очередь команд: {setting_client}") # Видеозаглушка и возвращение к начальной точке set_Flag_LoopingVideoPlayer(False) navigation_filename = "russpas_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(return_start()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен", client_socket) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) setting_client = get_setting_client() if setting_client: setting_client.pop(0) print(f'Вывод массива с видео перед исключением из него нулей: {filepath_settinh_client}') if filepath_settinh_client and filepath_settinh_client[0]: while filepath_settinh_client and filepath_settinh_client[0] == "0": print(f'Вывод массива с видео перед исключением из него нулей: {filepath_settinh_client}') setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) print('Массив с названиями видео очищен от нулей.') join_thread() return True def handle_performance(): global client_socket, reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting, thisstep, \ autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, filepath_settinh_client, filepath, setting_client print('Запущен performance') join_thread() # Завершение всех текущих потоков перед запуском новых операций filepath = filepath_setting_request() print("Ждем команду для воспроизведения видео") message_play_video = get_message_play_video() setting_client = get_setting_client() filepath_settinh_client = get_filepath_settinh_client() # Если видео не сыграло if not(client_play_video(filepath, True, counter_client_play_video, filepath_settinh_client, message_play_video, setting)): # То очищаем очередь комманд setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) # Возвращаем лопасть в нулевую точку # Заглушка set_Flag_LoopingVideoPlayer(False) navigation_filename = "russpas_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(return_start()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) # print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен") # И перезапускаем цикл return True waitingmode_fin(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) try: if request_above(False): return True except Exception as e: print("Error:", str(e)) flag_onClient = True # gpio.output(ENA, gpio.LOW) time.sleep(.1) thisstep = get_thisstep() thread_LEDRGB = Thread(target=LEDRGB, args=(number_LED, R, B, G, R2, B2, G2, screenplay)) thread_LEDRGB.start() thread_steppermovement = Thread(target=steppermovement, args=(necessarystep, flag_onClient, thisstep)) thread_steppermovement.start() if filepath is not None: timeout = get_timeout() video(filepath, timeout, initXaxis, initYaxis, sizeXaxis, sizeYaxis) else: print('Отсутствует видеофайл для воспроизведения. Не запускаем видеоплеер') thread_steppermovement.join() time.sleep(.1) # gpio.output(ENA, gpio.HIGH) thread_LEDRGB.join(0.1) waitingmode_start(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) return False def handle_other_cases(): global client_socket, reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting, thisstep, \ autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, filepath_settinh_client, filepath, setting_client print('Не запущен performance') # if reqType == "navigation": # autotest_filename = "" # else: # autotest_filename = "waf.mp4" flag_onClient = True # gpio.output(ENA, gpio.LOW) time.sleep(.1) set_Flag_LoopingVideoPlayer(False) # Выбор видеозаглушки if reqType == 'navigation': navigation_filename = "navigation__zastavka.mp4" else: navigation_filename = "VDNH_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() timeout = get_timeout() time.sleep(.1) # gpio.output(ENA, gpio.HIGH) thisstep = get_thisstep() set_Flag_LoopingVideoPlayer(steppermovement(necessarystep, flag_onClient, thisstep)) join_thread() thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) try: if request_above(False): return True except Exception as e: print("Error:", str(e)) filepath_settinh_client = get_filepath_settinh_client() filepath = filepath_setting_request() print("Ждем команду для воспроизведения видео") message_play_video = get_message_play_video() try: # Если видео не сыграло if not(client_play_video(filepath, True, counter_client_play_video, filepath_settinh_client, message_play_video, setting)): # То очищаем очередь комманд setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) # Возвращаем лопасть в нулевую точку # Заглушка set_Flag_LoopingVideoPlayer(False) navigation_filename = "russpas_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(return_start()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) # print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен") # И перезапускаем цикл return True except Exception as e: print("Error:", str(e)) time.sleep(.1) waitingmode_fin(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) thread_LEDRGB = Thread(target=LEDRGB, args=(number_LED, R, B, G, R2, B2, G2, screenplay)) thread_LEDRGB.start() if filepath is not None: timeout = get_timeout() video(filepath, timeout, initXaxis, initYaxis, sizeXaxis, sizeYaxis, False) else: print('Отсутствует видеофайл для воспроизведения. Не запускаем видеоплеер') setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) thread_LEDRGB.join(0.1) waitingmode_start(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) return False def handle_representation(): global client_socket, reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting, thisstep, \ autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, filepath_settinh_client, filepath, setting_client print('Запущен representation') flag_onClient = True # gpio.output(ENA, gpio.LOW) time.sleep(.1) set_Flag_LoopingVideoPlayer(False) navigation_filename = "VDNHrusspas_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() timeout = get_timeout() time.sleep(.1) # gpio.output(ENA, gpio.HIGH) thisstep = get_thisstep() set_Flag_LoopingVideoPlayer(steppermovement(necessarystep, flag_onClient, thisstep)) join_thread() thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) try: if request_above(False): return True except Exception as e: print("Error:", str(e)) filepath_settinh_client = get_filepath_settinh_client() print("Лопасть готова к презентации") filepath = filepath_setting_request() message_play_video = get_message_play_video() try: # Если видео не сыграло if not(client_play_video(filepath, True, counter_client_play_video, filepath_settinh_client, message_play_video, setting)): # То очищаем очередь комманд setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) # Возвращаем лопасть в нулевую точку # Заглушка set_Flag_LoopingVideoPlayer(False) navigation_filename = "russpas_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(return_start()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) # print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен") # И перезапускаем цикл return True except Exception as e: print("Error:", str(e)) time.sleep(.1) waitingmode_fin(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) try: if request_above(False): return True except Exception as e: print("Error:", str(e)) thread_LEDRGB = Thread(target=LEDRGB, args=(number_LED, R, B, G, R2, B2, G2, screenplay)) thread_LEDRGB.start() if filepath is not None: set_Flag_JustGo(True) thread_steppermovement = Thread(target=stepperJustGo, args=()) thread_steppermovement.start() timeout = get_timeout() set_Flag_JustGo(video(filepath, timeout, initXaxis, initYaxis, sizeXaxis, sizeYaxis, False)) # time.sleep(timeout) thread_steppermovement.join() set_Flag_JustGo(False) else: print('Отсутствует видеофайл для воспроизведения. Не запускаем видеоплеер') setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) return True thread_LEDRGB.join(0.1) waitingmode_start(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) # Возврат лопасти к начальной точке координат после прекращения видео set_Flag_LoopingVideoPlayer(False) navigation_filename = "VDNH_zastavka.mp4" thread_loopVideo = Thread(target=video, args=(find_file(navigation_filename), get_length(find_file(navigation_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(return_start()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) return False def main(): global client_socket, reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting, thisstep, \ autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, filepath_settinh_client, filepath, setting_client # app = QApplication(sys.argv) # initialize_app(app) try: with new_socket() as server_socket: client_socket, addr = server_socket.accept() print('Connection address:', addr) autotest_client, flage_remove_cV, counter_client_play_video, counter_setting_request, \ DIR, STEP, ENA, DEGSTEP, CW, CCW, MICROSTEP, FACTOR, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, \ FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, HALL, board_PIXEL, \ number_LED, brightness, line_script_Wait, R_wait, G_wait, B_wait, R2_wait, G2_wait, B2_wait, initXaxis, \ initYaxis, sizeXaxis, sizeYaxis, pixel, SPR, SYSCOF, specialNavigationRequests = setting_server(client_socket) initialize_gpio_pins(DIR, STEP, ENA, HALL, SPR, SYSCOF, MAX_SPEED_DELAY_small_dist, START_DELAY_small_dist, FIN_DELAY_small_dist, MAX_SPEED_DELAY_long_dist, START_DELAY_long_dist, FIN_DELAY_long_dist, CW, CCW, MICROSTEP, FACTOR, DEGSTEP) b = 0 while b < number_LED: # pixel[b] = (GREEN) b = b + 1 time.sleep(0.05) # pixel.fill(GREEN) onClient("Fluger запущен", client_socket) print("Fluger запущен\n") time.sleep(2) remove_createdVideos(flage_remove_cV) # очищение папки createdVideos if not (autotest_client): pass else: z = 0 while z < number_LED: # pixel[z] = (YELLOW) z = z + 1 time.sleep(0.05) # pixel.fill(YELLOW) # РАССКОММЕНТИРУЙ autotest_filename = "autotest_zastavka.mp4" set_Flag_LoopingVideoPlayer(False) thread_loopVideo = Thread(target=video, args=(find_file(autotest_filename), get_length(find_file(autotest_filename)), initXaxis, initYaxis, sizeXaxis, sizeYaxis, True)) thread_loopVideo.start() set_Flag_LoopingVideoPlayer(autotest()) thread_loopVideo.join() set_Flag_LoopingVideoPlayer(True) a = 1 while a < number_LED: # pixel[-a] = (YELLOW) a = a + 1 time.sleep(0.05) onClient("Fluger готов к работе", client_socket) print("Fluger готов к работе\n") waitingmode_start(R_wait, B_wait, G_wait, R2_wait, B2_wait, G2_wait) thread_client_request = Thread(target=client_request, ) thread_client_request.start() while True: try: message_play_video = None reqType, deg, namefile, screenplay, R, G, B, R2, G2, B2, necessarystep, setting = setting_request() onClient("Получена команда от клиента", client_socket) print("Получена команда от клиента\n") thisstep = get_thisstep() print(f"Шаг перед проверкой:{thisstep}") print(f"_________________________________________Заход в обработчик вариантов представления, case: «{reqType}»_________________________________________") if reqType == 'navigation_null' and handle_navigation_null(): print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен", client_socket) print(f"_________________________________________Переход на следующую иттерацию, case: «{reqType}»_________________________________________") continue if reqType == 'performance' and handle_performance(): print(f"_________________________________________Переход на следующую иттерацию, case: «{reqType}»_________________________________________") continue if reqType == 'representation' and handle_representation(): print(f"_________________________________________Переход на следующую иттерацию, case: «{reqType}»_________________________________________") continue if not (reqType in ['performance', 'representation']) and handle_other_cases(): print(f"_________________________________________Переход на следующую иттерацию, case: «{reqType}»_________________________________________") continue time.sleep(.1) try: if request_above(False): continue except Exception as e: print("Error:", str(e)) setting_client = get_setting_client() if setting_client: setting_client.pop(0) filepath_settinh_client = get_filepath_settinh_client() if filepath_settinh_client: filepath_settinh_client.pop(0) print(f"Очередь команд: {setting_client}") # return_start() print(f"Запрос клиента выполнен: {setting}") onClient("Запрос клиента выполнен", client_socket) print(f"_________________________________________Дошли до конца цикла: «{reqType}»_________________________________________") except Exception as e: print("An error occurred:", str(e)) continue # raise except KeyboardInterrupt: print("Cleaning up!") finally: gpio.cleanup() if client_socket: client_socket.close() if server_socket: server_socket.close() # Обработчик KeyboardInterrupt для корректного завершения приложения def handle_interrupt(): try: sys.exit(0) except SystemExit: os._exit(0) if __name__ == "__main__": update_package_json() signal.signal(signal.SIGINT, lambda sig, frame: handle_interrupt()) main()