中间版本，对于解封超过1024的消息有问题，暂存历史

aio/code/automatic_test/do_brake.py

@@ -1,67 +1,28 @@
-import json
-from socket import *
-import threading
-import time
-import binascii
+import openapi
+
+hr = openapi.hr
+
+# 一、设置/检测机器人状态：
+#   1. 上电
+#   2. 软限位打开
+#   3. 示教器断开
+#   4. 操作模式
+#   5. 控制器状态/工作任务控件/机器人动态
+
+# 二、加载RL程序开始运行
 
 
-class HmiRequest(object):
+# 三、运行过程中，收集数据，并处理出结果
 
-    def __init__(self):
-        self.c = socket(AF_INET, SOCK_STREAM)
-        self.c.connect(('192.168.84.129', 5050))
-        self.c_xs = socket(AF_INET, SOCK_STREAM)
-        self.c_xs.connect(('192.168.84.129', 6666))
-        self.c.setblocking(False)
-        self.c_xs.setblocking(False)
-        self.t = threading.Thread(target=self.__heartbeat_detection)
-        self.t.daemon = True
-        self.t.start()
-
-    def __handle_command(self, cmd):
-        len_frame, len_pkg = len(cmd), len(cmd) + 6
-        pkg_head = str(hex(len_pkg))[2:].rjust(4, '0')
-        frame_head = str(hex(len_frame))[2:].rjust(4, '0')
-        str0 = binascii.unhexlify(pkg_head)  # 报文
-        str1 = chr(0) + chr(0)  # 保留字段
-        str2 = binascii.unhexlify(frame_head)  # 帧
-        str3 = chr(2) + chr(0)  # 协议类型
-        return str0 + str1.encode() + str2 + str3.encode() + cmd.encode()
-
-    def __heartbeat_detection(self):
-        data = {
-            "id": "system.controller.heart_0",
-            "module": "system",
-            "command": "controller.heart",
-        }
-        _id = 1
-        while True:
-            data["id"] = f"#system.controller.heart_{_id}"
-            cmd = json.dumps(data, separators=(',', ':'))
-            self.c.send(self.__handle_command(cmd))
-            time.sleep(10)
-            _id += 1
-
-    def motor_on(self):
-        """HMI上电"""
-        data = {
-            "command": "state.switch_motor_on",
-            "id": str(1234),
-            "module": "system"
-        }
-        cmd = json.dumps(data, separators=(',', ':'))
-        self.c.send(self.__handle_command(cmd))
-        time.sleep(2)
-        response = self.c.recv(102400)
-        print(response)
-        print(type(response))
-        print(response.decode())
-
-        # response = json.loads(self.c.recv(102400).decode('utf-16-be'))
-        # print(response)
+# 四
 
 
-hr = HmiRequest()
-hr.motor_on()
-
+# _id = hr.excution("state.get_state")
+# print(hr.get_from_id(_id))
+# _id = hr.excution('state.set_tp_mode', tp_mode='without')
+# print(hr.get_from_id(_id))
 
+_id = hr.excution('device.get_params')
+print(hr.get_from_id(_id))
+# _id = hr.excution('state.switch_motor_on')
+# print(hr.get_from_id(_id))