385 lines
13 KiB
Python
385 lines
13 KiB
Python
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# -*- coding: utf-8 -*-
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"""
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内置 Action 处理器实现
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─────────────────────────────────────────────────────────────────
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每个处理函数签名：
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def handler(action: Action, ctx: ActionContext) -> Any
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处理函数内部通过 ctx.emit_event() 产生一个或多个 Event 对象
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─────────────────────────────────────────────────────────────────
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"""
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import logging
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import random
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import time
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from uas.action.action_context import ActionContext
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from uas.action.action_model import Action
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from uas.event.event_model import make_event
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# 复用 Event 模块
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from uas.event.event_type import EventType
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logger = logging.getLogger(__name__)
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# ─────────────────────────────────────────────────────────────────
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# 控制类 Action 处理器
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# ─────────────────────────────────────────────────────────────────
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def handle_pause(action: Action, ctx: ActionContext) -> dict:
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"""
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暂停处理器
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产生事件：DEVICE_STATUS_CHANGED
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"""
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ctx.report_progress(10, "发送暂停指令...")
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time.sleep(0.1) # 模拟指令发送延迟
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ctx.check_cancel()
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ctx.report_progress(80, "等待设备响应...")
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time.sleep(0.1)
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# 产生状态变更事件
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ctx.emit_event(make_event(
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EventType.DEVICE_STATUS_CHANGED,
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source = action.source,
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message = f"设备已暂停",
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prev_state = "running",
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curr_state = "paused",
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action_id = action.action_id,
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))
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ctx.report_progress(100, "暂停完成")
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logger.info(f"⏸ 暂停完成: {action.source}")
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return {"status": "paused", "device": action.source}
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def handle_resume(action: Action, ctx: ActionContext) -> dict:
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"""
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继续处理器
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产生事件：DEVICE_STATUS_CHANGED
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"""
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ctx.report_progress(20, "发送继续指令...")
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time.sleep(0.1)
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ctx.check_cancel()
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ctx.emit_event(make_event(
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EventType.DEVICE_STATUS_CHANGED,
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source = action.source,
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message = "设备已恢复运行",
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prev_state = "paused",
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curr_state = "running",
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action_id = action.action_id,
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))
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ctx.report_progress(100, "继续完成")
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logger.info(f"▶️ 继续完成: {action.source}")
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return {"status": "running", "device": action.source}
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def handle_stop(action: Action, ctx: ActionContext) -> dict:
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"""
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停止处理器
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产生事件：DEVICE_STATUS_CHANGED + SYSTEM_WARNING（若强制停止）
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"""
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force = action.params.get("force", False)
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ctx.report_progress(10, "准备停止...")
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if force:
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# 强制停止：产生警告事件
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ctx.emit_event(make_event(
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EventType.SYSTEM_WARNING,
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source = action.source,
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message = "强制停止指令已执行",
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level = "warning",
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))
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ctx.report_progress(60, "执行停止序列...")
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time.sleep(0.2)
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ctx.check_cancel()
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ctx.emit_event(make_event(
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EventType.DEVICE_STATUS_CHANGED,
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source = action.source,
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message = "设备已停止",
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prev_state = "running",
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curr_state = "stopped",
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force = force,
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))
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ctx.report_progress(100, "停止完成")
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logger.info(f"⏹ 停止完成: {action.source} force={force}")
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return {"status": "stopped", "force": force}
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def handle_reset(action: Action, ctx: ActionContext) -> dict:
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"""
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重置处理器
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产生事件：DEVICE_RESET + DEVICE_STATUS_CHANGED
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"""
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ctx.report_progress(10, "开始重置...")
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time.sleep(0.1)
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ctx.emit_event(make_event(
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EventType.DEVICE_RESET,
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source = action.source,
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message = "设备重置开始",
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))
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ctx.report_progress(50, "重置中...")
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time.sleep(0.2)
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ctx.check_cancel()
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ctx.emit_event(make_event(
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EventType.DEVICE_STATUS_CHANGED,
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source = action.source,
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message = "设备重置完成",
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curr_state = "idle",
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))
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ctx.report_progress(100, "重置完成")
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logger.info(f"🔄 重置完成: {action.source}")
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return {"status": "reset_done"}
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# ─────────────────────────────────────────────────────────────────
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# 感知类 Action 处理器
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# ─────────────────────────────────────────────────────────────────
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def handle_capture_photo(action: Action, ctx: ActionContext) -> dict:
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"""
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拍照处理器
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产生事件：DEVICE_DATA_RECEIVED（含图像元数据）
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"""
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resolution = action.params.get("resolution", "1080P")
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fmt = action.params.get("format", "jpg")
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camera_id = action.source
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ctx.report_progress(20, f"初始化相机 {camera_id}...")
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time.sleep(0.05)
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ctx.check_cancel()
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ctx.report_progress(60, "曝光采集...")
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time.sleep(0.1)
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# 模拟图像数据
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photo_meta = {
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"camera_id": camera_id,
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"resolution": resolution,
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"format": fmt,
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"file_path": f"/data/photos/{camera_id}_{int(time.time())}.{fmt}",
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"size_kb": random.randint(500, 5000),
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"exposure_ms": random.randint(10, 100),
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}
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# 产生数据到达事件
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ctx.emit_event(make_event(
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EventType.DEVICE_DATA_RECEIVED,
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source = camera_id,
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message = f"拍照完成 [{resolution}]",
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data_type = "image",
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**photo_meta,
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))
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ctx.report_progress(100, "拍照完成")
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logger.info(f"📷 拍照完成: {camera_id} {resolution} -> {photo_meta['file_path']}")
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return photo_meta
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def handle_recognize_target(action: Action, ctx: ActionContext) -> dict:
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"""
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目标识别处理器
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产生事件：
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- DEVICE_DATA_RECEIVED（识别结果）
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- EQUIPMENT_ALARM（若发现威胁目标）
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"""
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model = action.params.get("model", "yolov8")
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confidence = action.params.get("confidence", 0.85)
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image_path = action.params.get("image_path", "")
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ctx.report_progress(10, f"加载模型 {model}...")
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time.sleep(0.1)
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ctx.check_cancel()
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ctx.report_progress(40, "推理中...")
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time.sleep(0.2)
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ctx.check_cancel()
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# 模拟识别结果
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targets = [
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{"id": f"T{i:03d}", "label": random.choice(["aircraft", "vehicle", "person"]),
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"confidence": round(random.uniform(0.7, 0.99), 3),
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"bbox": [random.randint(0, 640) for _ in range(4)]}
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for i in range(random.randint(0, 3))
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]
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ctx.report_progress(80, f"发现 {len(targets)} 个目标...")
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# 产生识别结果事件
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ctx.emit_event(make_event(
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EventType.DEVICE_DATA_RECEIVED,
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source = action.source,
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message = f"目标识别完成，发现 {len(targets)} 个目标",
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data_type = "recognition",
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model = model,
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targets = targets,
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image_path = image_path,
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))
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# 若发现高威胁目标，额外产生告警事件
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threat_targets = [t for t in targets if t["label"] == "aircraft"
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and t["confidence"] > 0.9]
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if threat_targets:
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ctx.emit_event(make_event(
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EventType.EQUIPMENT_ALARM,
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source = action.source,
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message = f"发现 {len(threat_targets)} 个高威胁目标！",
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level = "critical",
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targets = threat_targets,
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))
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logger.warning(f"🚨 发现威胁目标: {threat_targets}")
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ctx.report_progress(100, "识别完成")
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logger.info(f"🎯 目标识别完成: {len(targets)} 个目标")
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return {"targets": targets, "model": model}
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def handle_scan_environment(action: Action, ctx: ActionContext) -> dict:
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"""
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环境扫描处理器
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产生事件：DEVICE_DATA_RECEIVED（扫描数据）+ DEVICE_WARNING（若发现异常）
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"""
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scan_range = action.params.get("range_m", 100)
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sensor = action.source
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ctx.report_progress(10, "初始化传感器...")
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time.sleep(0.05)
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scan_data = []
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steps = 5
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for i in range(steps):
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ctx.check_cancel()
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time.sleep(0.05)
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ctx.report_progress(
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int((i + 1) / steps * 80),
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f"扫描中 {int((i+1)/steps*100)}%..."
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)
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scan_data.append({
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"angle": i * (360 // steps),
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"distance": random.uniform(5, scan_range),
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"intensity": random.uniform(0.1, 1.0),
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})
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# 产生扫描数据事件
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ctx.emit_event(make_event(
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EventType.DEVICE_DATA_RECEIVED,
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source = sensor,
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message = f"环境扫描完成，范围 {scan_range}m",
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data_type = "lidar_scan",
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points = len(scan_data),
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scan_data = scan_data,
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))
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# 检测到近距离障碍物
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close_obstacles = [d for d in scan_data if d["distance"] < 10]
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if close_obstacles:
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ctx.emit_event(make_event(
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EventType.DEVICE_WARNING,
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source = sensor,
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message = f"检测到 {len(close_obstacles)} 个近距离障碍物",
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obstacles = close_obstacles,
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))
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ctx.report_progress(100, "扫描完成")
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return {"scan_points": len(scan_data), "range_m": scan_range}
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# ─────────────────────────────────────────────────────────────────
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# 系统类 Action 处理器
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# ─────────────────────────────────────────────────────────────────
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def handle_system_diagnose(action: Action, ctx: ActionContext) -> dict:
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"""
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系统诊断处理器
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产生事件：SYSTEM_WARNING（若发现问题）或 DEVICE_STATUS_CHANGED
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"""
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checks = ["CPU", "内存", "存储", "网络", "传感器"]
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results = {}
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for i, check in enumerate(checks):
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ctx.check_cancel()
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time.sleep(0.05)
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ctx.report_progress(int((i + 1) / len(checks) * 90), f"检查 {check}...")
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status = random.choice(["normal", "normal", "normal", "warning"])
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results[check] = status
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if status == "warning":
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ctx.emit_event(make_event(
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EventType.SYSTEM_WARNING,
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source = action.source,
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message = f"诊断发现 {check} 异常",
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component = check,
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level = "warning",
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))
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# 产生诊断完成事件
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ctx.emit_event(make_event(
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EventType.DEVICE_STATUS_CHANGED,
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source = action.source,
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message = "系统诊断完成",
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curr_state = "diagnosed",
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results = results,
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))
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ctx.report_progress(100, "诊断完成")
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warnings = [k for k, v in results.items() if v == "warning"]
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logger.info(f"🔧 系统诊断完成: {results} warnings={warnings}")
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return {"results": results, "warnings": warnings}
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def handle_system_calibrate(action: Action, ctx: ActionContext) -> dict:
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"""
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设备校准处理器
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产生事件：DEVICE_CALIBRATED
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"""
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sensor_ids = action.params.get("sensors", ["all"])
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|
ctx.report_progress(10, "开始校准...")
|
|||
|
|
|
|||
|
|
for i, sid in enumerate(sensor_ids):
|
|||
|
|
ctx.check_cancel()
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
ctx.report_progress(
|
|||
|
|
int((i + 1) / len(sensor_ids) * 90),
|
|||
|
|
f"校准传感器 {sid}..."
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
ctx.emit_event(make_event(
|
|||
|
|
EventType.DEVICE_CALIBRATED,
|
|||
|
|
source = action.source,
|
|||
|
|
message = f"校准完成，传感器: {sensor_ids}",
|
|||
|
|
sensors = sensor_ids,
|
|||
|
|
accuracy = round(random.uniform(0.95, 0.999), 4),
|
|||
|
|
))
|
|||
|
|
|
|||
|
|
ctx.report_progress(100, "校准完成")
|
|||
|
|
logger.info(f"📐 校准完成: {action.source} sensors={sensor_ids}")
|
|||
|
|
return {"calibrated": sensor_ids}
|
|||
|
|
|
|||
|
|
|
|||
|
|
# ─────────────────────────────────────────────────────────────────
|
|||
|
|
# 处理器映射表（供 ActionRegistry 使用）
|
|||
|
|
# ─────────────────────────────────────────────────────────────────
|
|||
|
|
|
|||
|
|
from uas.action.action_type import ActionType
|
|||
|
|
|
|||
|
|
BUILTIN_HANDLERS = {
|
|||
|
|
ActionType.PAUSE: handle_pause,
|
|||
|
|
ActionType.RESUME: handle_resume,
|
|||
|
|
ActionType.STOP: handle_stop,
|
|||
|
|
ActionType.RESET: handle_reset,
|
|||
|
|
ActionType.CAPTURE_PHOTO: handle_capture_photo,
|
|||
|
|
ActionType.RECOGNIZE_TARGET: handle_recognize_target,
|
|||
|
|
ActionType.SCAN_ENVIRONMENT: handle_scan_environment,
|
|||
|
|
ActionType.SYSTEM_DIAGNOSE: handle_system_diagnose,
|
|||
|
|
ActionType.SYSTEM_CALIBRATE: handle_system_calibrate,
|
|||
|
|
}
|