124 lines
5.0 KiB
Python
124 lines
5.0 KiB
Python
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import asyncio
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import json
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import logging
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import time
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from typing import Dict, List, Any
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from middleware.entity.camera_para import read_camera_params
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from touying.ImageReproject_python.cal_func import red_line_reproject, read_txt
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from touying.read_hongxian_file import process_geojson_data, convert_processed_to_points, \
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add_result_to_prcessdata
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# 配置日志
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
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)
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logger = logging.getLogger(__name__)
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# 自定义计算类 - 处理接收到的MQTT消息
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class CalTouYing:
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def __init__(self,local_file_path, camera_file_path,img_width=1920, img_height=1080):
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self.img_width = img_width
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self.img_height = img_height
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# self.points = read_txt(r"D:\project\test-touying\ImageReproject_python\points.txt")
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self.processed_data=process_geojson_data(local_file_path) #将json文本读取到内存
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self.camera_para=read_camera_params(camera_file_path)
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self.processed_points=convert_processed_to_points(self.processed_data) #做格式转为Point的集合
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def process(self, data: Dict) -> None | dict[str, int | float | Any] | dict[str, str | dict]:
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"""处理接收到的数据并进行计算"""
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try:
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# 提取参数（如果不存在则使用默认值）
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# 提取参数（如果不存在则使用默认值）
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# print(f"datadatadata2 {data.get("data")}")
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# print(f"datadatadata3 {data.get("data").get("gimbal_yaw", 0)}")
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# if data.get("data").get("gimbal_yaw") is None:
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gimbal_yaw = data.get("data").get("gimbal_yaw")
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# print("1")
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gimbal_pitch = data.get("data").get("gimbal_pitch")
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# print("2")
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gimbal_roll = data.get("data").get("gimbal_roll")
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# print("3")
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height = data.get("data").get("height")
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# print("4")
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cam_longitude = data.get("data").get("longitude")
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# print("5")
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cam_altitude = data.get("data").get("latitude")
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# print("6")
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# # # 提取参数（根据实际 MQTT 消息结构调整）
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# gimbal_yaw = data.get("data", {}).get("gimbal_yaw", 66.40)
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# gimbal_pitch = data.get("data", {}).get("gimbal_pitch", -90)
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# gimbal_roll = data.get("data", {}).get("gimbal_roll", 0)
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# height = data.get("data", {}).get("height", 590.834)
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# cam_longtitude = data.get("data", {}).get("cam_longtitude", 103.592606)
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# cam_altitude = data.get("data", {}).get("cam_altitude", 30.454648)
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# img_width = data.get("data", {}).get("img_width", 4032)
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# img_height = data.get("data", {}).get("img_height", 3024)
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if gimbal_yaw is not None and gimbal_pitch is not None and gimbal_roll is not None and height is not None and cam_longitude is not None and cam_altitude is not None:
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# gimbal_yaw=float(gimbal_yaw)
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# gimbal_pitch=float(gimbal_pitch)
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# print(f"datadatadata1 {data}")
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# # 临时特殊处理，gimbal_pitch收到了0的异常值
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# if gimbal_pitch <0.01:
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# gimbal_pitch=0.01
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# gimbal_roll=float(gimbal_roll)
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# # height=float(height)-30
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# height=float(height)
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# cam_longitude=float(cam_longitude)
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# cam_altitude=float(cam_altitude)
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# 坐标转换计算示例
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# 这里是一个简化的示例，实际应用中可能需要更复杂的算法
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# result = red_line_reproject(
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# gimbal_yaw, gimbal_pitch, gimbal_roll,
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# height, longitude, latitude,
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# 1440, 1080,
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# points
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# )
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result = red_line_reproject(
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gimbal_yaw, gimbal_pitch, gimbal_roll,
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height, cam_longitude, cam_altitude,
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self.img_width, self.img_height,
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# self.points
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self.processed_points,
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self.camera_para
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)
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# print("3")
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# print(f"result {result}")
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# if len(result)<1:
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# return None
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procc_data=self.processed_data
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add_result_to_prcessdata(procc_data, result)
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# 构建发送给前端的消息
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response = {
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"step": 1,
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# "param": mess, # 原始参数
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"data":data.get("data"),
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"result": procc_data, # 计算结果
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# "result": result, # 计算结果
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"timestamp": time.time()
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}
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return response
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except Exception as e:
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return {
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"status": "error",
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"message": str(e),
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"original_data": data
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}
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