start.py

# -*- coding: utf-8 -*-
import asyncio
import datetime
import sys
from concurrent.futures import ThreadPoolExecutor

from devices.lasertracker.const import MQTT_USERNAME, MQTT_PASSWORD, MQTT_BROKER, MQTT_VHOST, MQTT_PORT
from wzl.utilities import root_logger
from wzl.mqtt import MQTTPublisher
from src.soil.component import Component
from src.http.server import HTTPServer
from src.soil.event import Event, EventSeverity, EventTrigger
from src.soil.stream import FixedJob, ConfigurableJob, EventJob, UpdateJob, MessageScheduler, EventScheduler, UpdateScheduler

from devices.lasertracker.device.enums import StateEnum, ModeEnum
from devices.lasertracker.device.com_lasertracker import COMLasertracker

sys.setswitchinterval(0.0005)


def start(com_lasertracker: COMLasertracker):
    # server settings
    address = '127.0.0.1'
    port = '8000'

    main_logger = root_logger.get(__name__)

    # set up servers
    executor = ThreadPoolExecutor(max_workers=100)
    loop = asyncio.get_event_loop()
    loop.set_default_executor(executor)

    # configure mqtt
    mqtt = MQTTPublisher(MQTT_USERNAME)
    mqtt.connect(MQTT_BROKER, MQTT_PORT, MQTT_VHOST + ":" + MQTT_USERNAME, MQTT_PASSWORD)

    # configure messages
    message_schedule = []
    update_schedule = []
    message_schedule += [
        FixedJob("COM-Lasertracker/COM-BaseStations/COM-Base/MEA-Position", 1, com_lasertracker._com_basestations._com_base.get_mea_position)]
    for child0_uuid in com_lasertracker._com_mobileentities._com_target:
        message_schedule += [FixedJob("COM-Lasertracker/COM-MobileEntities/{}/MEA-Position".format(child0_uuid), 1,
                                      com_lasertracker._com_mobileentities._com_target[child0_uuid].get_mea_position)]
    message_scheduler = MessageScheduler(loop, message_schedule, [mqtt])

    for child0_uuid in com_lasertracker._com_mobileentities._com_target:
        update_schedule += [UpdateJob("COM-Lasertracker/COM-MobileEntities/{}/MEA-Quaternion".format(child0_uuid),
                                      com_lasertracker._com_mobileentities._com_target[child0_uuid].get_mea_quaternion)]
    update_scheduler = UpdateScheduler(loop, update_schedule, [mqtt])

    # configure events
    event_schedule = []
    event_schedule += [
        EventJob("COM-Lasertracker/COM-BaseStations/COM-Base/MEA-Distance", 10, com_lasertracker._com_basestations._com_base.get_mea_distance,
                 Event(EventSeverity.WARNING, EventTrigger.LARGER, "double", 50, "The target is distance is large. Uncertainty might be high."))]
    event_schedule += [
        EventJob("COM-Lasertracker/COM-BaseStations/COM-Base/PAR-State", 10, com_lasertracker._com_basestations._com_base.get_par_state,
                 Event(EventSeverity.ERROR, EventTrigger.EQUALS, "enum", StateEnum.ERROR, "An error occured!"))]
    for child0_uuid in com_lasertracker._com_mobileentities._com_target:
        event_schedule += [EventJob("COM-Lasertracker/COM-MobileEntities/{}/PAR-Locked".format(child0_uuid), 10,
                                    com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_locked,
                                    Event(EventSeverity.WARNING, EventTrigger.EQUALS, "bool", False, "Target is not locked!"))]
    event_scheduler = EventScheduler(loop, event_schedule, [mqtt])

    # configure model
    mapping = {}
    mapping['COM-Lasertracker'] = {'add': None, 'remove': None}
    submapping = mapping['COM-Lasertracker']
    submapping['PAR-State'] = {'getter': com_lasertracker.get_par_state, 'setter': com_lasertracker.set_par_state}
    submapping['PAR-Manufacturer'] = {'getter': com_lasertracker.get_par_manufacturer, 'setter': None}
    submapping['PAR-Version'] = {'getter': com_lasertracker.get_par_version, 'setter': None}
    submapping['PAR-Time'] = {'getter': com_lasertracker.get_par_time, 'setter': None}
    submapping['FUN-Reset'] = {'method': com_lasertracker.fun_reset, 'signature': {'arguments': {}, 'returns': []}}
    submapping['FUN-Shutdown'] = {'method': com_lasertracker.fun_shutdown, 'signature': {'arguments': {}, 'returns': []}}
    mapping['COM-Lasertracker']['COM-BaseStations'] = {'add': None, 'remove': None}
    submapping = mapping['COM-Lasertracker']['COM-BaseStations']
    mapping['COM-Lasertracker']['COM-BaseStations']['COM-Base'] = {'add': None, 'remove': None}
    submapping = mapping['COM-Lasertracker']['COM-BaseStations']['COM-Base']
    submapping['MEA-Position'] = com_lasertracker._com_basestations._com_base.get_mea_position
    submapping['MEA-Quaternion'] = com_lasertracker._com_basestations._com_base.get_mea_quaternion
    submapping['MEA-Azimuth'] = com_lasertracker._com_basestations._com_base.get_mea_azimuth
    submapping['MEA-Elevation'] = com_lasertracker._com_basestations._com_base.get_mea_elevation
    submapping['MEA-Distance'] = com_lasertracker._com_basestations._com_base.get_mea_distance
    submapping['MEA-Online'] = com_lasertracker._com_basestations._com_base.get_mea_online
    submapping['PAR-State'] = {'getter': com_lasertracker._com_basestations._com_base.get_par_state, 'setter': None}
    submapping['PAR-Calibration'] = {'getter': com_lasertracker._com_basestations._com_base.get_par_calibration, 'setter': None}
    submapping['PAR-Interval'] = {'getter': com_lasertracker._com_basestations._com_base.get_par_interval,
                                  'setter': com_lasertracker._com_basestations._com_base.set_par_interval}
    submapping['FUN-Jog'] = {'method': com_lasertracker._com_basestations._com_base.fun_jog,
                             'signature': {'arguments': {'ARG-Azimuth': 'arg_azimuth', 'ARG-Elevation': 'arg_elevation'}, 'returns': []}}
    submapping['FUN-PointTo'] = {'method': com_lasertracker._com_basestations._com_base.fun_pointto,
                                 'signature': {'arguments': {'ARG-Position': 'arg_position'}, 'returns': []}}
    mapping['COM-Lasertracker']['COM-MobileEntities'] = {'add': com_lasertracker._com_mobileentities.add,
                                                         'remove': com_lasertracker._com_mobileentities.remove}
    submapping = mapping['COM-Lasertracker']['COM-MobileEntities']
    for child0_uuid in com_lasertracker._com_mobileentities._com_target:
        mapping['COM-Lasertracker']['COM-MobileEntities'][child0_uuid] = {'add': None, 'remove': None}
        submapping = mapping['COM-Lasertracker']['COM-MobileEntities'][child0_uuid]
        submapping['MEA-Position'] = com_lasertracker._com_mobileentities._com_target[child0_uuid].get_mea_position
        submapping['MEA-Quaternion'] = com_lasertracker._com_mobileentities._com_target[child0_uuid].get_mea_quaternion
        submapping['PAR-State'] = {'getter': com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_state, 'setter': None}
        submapping['PAR-Mode'] = {'getter': com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_mode, 'setter': None}
        submapping['PAR-Type'] = {'getter': com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_type, 'setter': None}
        submapping['PAR-Calibration'] = {'getter': com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_calibration, 'setter': None}
        submapping['PAR-Locked'] = {'getter': com_lasertracker._com_mobileentities._com_target[child0_uuid].get_par_locked,
                                    'setter': com_lasertracker._com_mobileentities._com_target[child0_uuid].set_par_locked}
        submapping['FUN-Reset'] = {'method': com_lasertracker._com_mobileentities._com_target[child0_uuid].fun_reset,
                                   'signature': {'arguments': {}, 'returns': []}}
        submapping['FUN-Trigger'] = {'method': com_lasertracker._com_mobileentities._com_target[child0_uuid].fun_trigger,
                                     'signature': {'arguments': {}, 'returns': []}}
    model = Component.load('./Lasertracker.json', mapping['COM-Lasertracker'])

    http = HTTPServer(loop, address, port, model)

    # start servers
    main_logger.info("Starting main asynchronous loop")
    try:
        loop.run_forever()
    except:
        pass
    finally:
        loop.close()