import socket import struct import select import time from io import BytesIO import matplotlib.pyplot as plt import matplotlib.image as image import construct as c import numpy as np from PIL import Image from db_connecter import UseDatabase from memory_storage import MemoryStorage from hard_disk_storage import HardDiskStorage from PIL import Image import ctypes import os SONAR_MODE = 'lvs34' redis_db = MemoryStorage() hard_disk_db = HardDiskStorage() data_heard = c.Struct(magic_number=c.Int32ul, length_mm=c.Int32ul, type=c.Int32ul) sonar_data = c.Struct( magic_number=c.Int32ul, # 固定不便，可能用于区分不同设备 length_mm=c.Int32ul, # 数据包长度 type=c.Int32ul, # 固定不变，可能用于识别声呐不同状态的数据 sequence_count=c.Int32ul, # 每个包加一 num_results=c.Int32ul, # 每包数据量 pack_count=c.Int32ul, # 累加数据量，可能用于判断当前是第几个包 length_data_mm=c.Int32ul, # 当前包数据量 # pack_data=c.Array(c.this.length_data_mm, c.Byte) # 数据，怀疑是声呐数据 pack_data=c.Bytes(c.this.length_data_mm) ) def is_allowed_save(): # 从redis获取是否存储标志,允许存储返回时间戳 res = redis_db.get_value(['flag', 'timestamp', 'num', 'depth', 'temp', 'yaw', 'roll', 'pitch', 'servo_angle', 'img_type']) # {'flag': '0', 'timestamp': None, 'num': None, 'depth': '-2.350517511367798', 'temp': '7.96875', 'yaw': '310.625', 'roll': '-0.5', 'pitch': '178.75', 'servo_angle': '5', 'img_type': None} if 'flag' in res: if res['flag'] == '1': return res else: return False else: return False def get_uuid(): sql = f"SELECT uuid FROM measurement_data ORDER BY id DESC LIMIT 1;" result = hard_disk_db.execute_sql(sql, None) if result: return result[0]['uuid'] else: return None # 接收方 def Receiver(): group_ip = '239.254.2.16' # 组地址 group_port = 50223 # 端口号 # 创建IPv4/UDP套接字 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) # 获取本地ip 先获取主机名，在通过主机名获取ip # local_ip = socket.gethostbyname(socket.gethostname()) #windows local_ip = '0.0.0.0' # ubuntu # local_ip = '192.168.1.188' # ubuntu # 绑定端口 sock.bind((local_ip, group_port)) mreq = struct.pack("=4sl", socket.inet_aton(group_ip), socket.INADDR_ANY) while True: try: # 加入组播组 # 使用默认的IPV4组播接口 sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq) break except Exception as e: print(e) time.sleep(1) sequence_count = None # 期望的序列号，用于检测是否丢失或乱序 sonar_data_list = None count = 0 save_img = 0 path = '/data/bin_data/' sonar_temp = -10 dll = ctypes.CDLL("/home/sencott/sonar/sonar/build/libImageDraw.so") while True: data, addr = sock.recvfrom(65536) # 接受数值大一点，防止被撑爆 # print('images', len(data)) if count < 100: count = count + 1 if len(data) == 96: save_img = save_img + 1 else: if save_img > 1: redis_db.set_value({'sonar_status': 'open'}) else: redis_db.set_value({'sonar_status': 'close'}) save_img = 0 count = 0 res = data_heard.parse(data) if res.magic_number == 2308 and res.type == 393284: res = sonar_data.parse(data) if res.pack_count == 0: sonar_data_list = res.pack_data sequence_count = res.sequence_count elif sequence_count == res.sequence_count: sonar_data_list = sonar_data_list + res.pack_data if sonar_data_list != None: debug = False if debug == True: # 显示及存储,调试使用 if len(sonar_data_list) == res.num_results: if SONAR_MODE == 'lvs34': img = sonar_data_list[3645:] # lvs34 elif SONAR_MODE == 'lvs62': img = sonar_data_list[1853:] # lvs62 plt.clf() # 清除上一幅图像 byte_stream = BytesIO(img) img = image.imread(byte_stream, format='jpeg') # # 图片保存 # roiImg = Image.open(byte_stream) # roiImg.save('save.jpeg') plt.imshow(img) plt.pause(0.05) # 暂停0.05秒 这一句是实现动态更新的 plt.ioff() # 关闭画图的窗口 # redis_db.set_value({'flag': '0'}) # if not save_info: # continue if len(sonar_data_list) == res.num_results: # print("数据包大小（字节）：", len(sonar_data_list)) if SONAR_MODE == 'lvs34': angle_data = sonar_data_list[68:2112] # lvs34 img = sonar_data_list[3645:] # lvs34 elif SONAR_MODE == 'lvs62': angle_data = sonar_data_list[68:1088] # lvs62 img = sonar_data_list[1853:] # lvs62 # print('save_image',img) image = angle_data + img # 预览图像 dll.draw_image(ctypes.c_char_p('/data/tmp/'.encode()), ctypes.c_char_p('tmp'.encode()), image, len(image), 43) save_info = is_allowed_save() uuid = get_uuid() if save_info: # 允许存储 # 数据库存储 sql = f"insert into sonar_data (uuid,image_name, depth, temp, yaw, roll, pitch, servo_angle, sonar_temp) " \ f"values (%s,%s,%s,%s,%s,%s,%s,%s,%s)" res_data = redis_db.get_value(["sonar_temp"]) if res_data['sonar_temp']: sonar_temp = res_data['sonar_temp'] else: sonar_temp = -10 if not uuid: continue val = (uuid, save_info['timestamp'][0:10] + '_' + save_info['img_type'] + '_' + save_info['num'], save_info['depth'], save_info['temp'], save_info['yaw'], save_info['roll'], save_info['pitch'], save_info['servo_angle'], sonar_temp) # 二进制文件存储 img_name = save_info['timestamp'][0:10] + '_' + save_info['img_type'] + '_' + save_info['num'] f1 = open(path + str(img_name) + '.bin', 'wb') f1.write(angle_data + img) f1.close() hard_disk_db.execute_sql(sql, val) # 图像解析存储 save_path_in = '/data/img_data/' save_path_p = ctypes.c_char_p(save_path_in.encode()) filename_p = ctypes.c_char_p(img_name.encode()) if save_info['img_type'] == "s": mat_ptr = dll.draw_image(save_path_p, filename_p, angle_data + img, len(angle_data + img), 43) else: mat_ptr = dll.draw_image(save_path_p, filename_p, angle_data + img, len(angle_data + img), 34) redis_db.set_value({'flag': '0'}) # 存储完一帧，置零,否则会出现 # packet_seq_num, total_packets, packet_data = data.split(b":") # 从数据包中解析序号、总包数和数据 # print(packet_seq_num, total_packets, packet_data) # img = BytesIO(data) if __name__ == '__main__': Receiver() # while True: # save_info = is_allowed_save() # if not save_info: # continue # print(save_info) # conn = UseDatabase() # sql = f"insert into sonar_data (image_name, angle, images, depth, temp, yaw, roll, pitch, servo_angle) " \ # f"values (%s,%s,%s,%s,%s,%s,%s,%s,%s)" # val = (save_info['timestamp'] + '_' + save_info['num'], b'123', b'123', save_info['depth'], # save_info['temp'], save_info['yaw'], save_info['roll'], save_info['pitch'], save_info['servo_angle']) # conn.update(sql, val) # redis_db.set_value({'flag': '0'}) # 存储完一帧，置零