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v0.1.7.0(2024/06/25)-未发布

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1. [aio.py] 取消了在本文件中开启openapi线程的做法，并修改如下：
	- 通过包的方式导入其他模块
    - 使用current_path来规避文件路径问题
    - 声名了 self.hr 变量，用来接收openapi的实例化
    - 修改了对于segment button的错误调用
    - 设定progress bar的长度是10
    - 完善了segmented_button_callback函数
    - 在detect_network函数中增加heartbeat初始化
    - tabview_click函数中新增textbox清屏功能，以及实例化openapi，并做检测
2. [openapi.py] 取消了初始化中无限循环检测，因为阻塞了aio主界面进程！！！socket也无法多次连接！！！浪费了好多时间！！！很生气！！！！
	- 通过tabview切换来实现重新连接，并保留了异常处理部分
    - 将所有的 __xxxx 函数都替换成 xxxx 函数，去掉了 __
    - 使用current_path来规避文件路径问题
3. [do_brake.py] 初步完成了机器状态收集的功能，还需要完善
    - 使用current_path来规避文件路径问题
    - 新增validate_resp函数，校验数据
    - 完善了调用接口
This commit is contained in:
gitea
2024-06-25 21:40:27 +08:00
parent 6604f0ba06
commit a75775c869
8 changed files with 212 additions and 122 deletions
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47
aio/README.md
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@@ -246,24 +246,49 @@ v0.1.6.3(2024/06/18)
> ！！WARNING：目前版本的电机电流程序还支持DriverMaster采集的数据处理，等明确后，将不再支持，也即所有的电机电流数据（工业+协作），都是用诊断曲线来采集 > ！！WARNING：目前版本的电机电流程序还支持DriverMaster采集的数据处理，等明确后，将不再支持，也即所有的电机电流数据（工业+协作），都是用诊断曲线来采集
v0.1.7.0(2024/06/29) v0.1.7.0(2024/06/19)-未发布
1. [openapi.py] 初步搭建起框架，完成了新老协议的封包/解包/异步采集日志的操作（未充分测试，但基本无问题） 1. [openapi.py] 初步搭建起框架，完成了新老协议的封包/解包/异步采集日志的操作（未充分测试，但基本无问题）
2. [openapi.py] 修改了封包的规则，使之更加明晰，封包操作没有实现分包功能，目前看实际场景用不到 2. [openapi.py] 修改了封包的规则，使之更加明晰，封包操作没有实现分包功能，目前看实际场景用不到
3. [openapi.py] 定义 MAX_FRAME_SIZE 常量（1024），替换socket接收以及响应数据处理相关部分
4. [openapi.py] 使用 int.to_bytes 和 int.from_bytes 替换 binascii 模块的功能 v0.1.7.0(2024/06/21)-未发布
5. [aio.py] 修改了Data Process中初始化的动作，使得初始化时的状态统一成程序刚启动时的样子 1. [openapi.py] 定义 MAX_FRAME_SIZE 常量（1024），替换socket接收以及响应数据处理相关部分
6. [aio.py] 增加了tabview的点击行为函数，每次点击tab都会初始化 2. [openapi.py] 使用 int.to_bytes 和 int.from_bytes 替换 binascii 模块的功能
7. [aio.py] 增加了Automatic Test界面元素，包括如下，并完成了功能框架的搭建 3. [aio.py] 修改了Data Process中初始化的动作，使得初始化时的状态统一成程序刚启动时的样子
v0.1.7.0(2024/06/23)-未发布
1. [aio.py] 增加了tabview的点击行为函数，每次点击tab都会初始化
2. [aio.py] 增加了Automatic Test界面元素，包括如下，并完成了功能框架的搭建
- 标签：文件/角速度/减速比 - 标签：文件/角速度/减速比
- 按钮：急停及恢复 - 按钮：急停及恢复
- 输入框：文件路径/角速度/减速比 - 输入框：文件路径/角速度/减速比
- OptionMenu：负载 - OptionMenu：负载
- 进度条 - 进度条
8. [openapi.py] 增加心跳检测函数，并开启线程执行；取消在该文件中生成实例 3. [openapi.py] 增加心跳检测函数，并开启线程执行；取消在该文件中生成实例
9. [aio.py] 完成detect_network，并在main函数开启线程 4. [aio.py] 完成detect_network，并在main函数开启线程
10. 将templates文件夹移动到assets内 5. 将templates文件夹移动到assets内
11. [openapi.py] 建联部分做容错逻辑，并将读写文件做自适应处理
12. [aio.py] 将读写文件做自适应处理，引入openapi模块并生成实例，做心跳检测，将socket超时时间修改为3s v0.1.7.0(2024/06/24)-未发布
1. [openapi.py] 建联部分做容错逻辑，并将读写文件做自适应处理
2. [aio.py] 将读写文件做自适应处理，引入openapi模块并生成实例，做心跳检测，将socket超时时间修改为3s
v0.1.7.0(2024/06/25)-未发布
1. [aio.py] 取消了在本文件中开启openapi线程的做法，并修改如下：
- 通过包的方式导入其他模块
- 使用current_path来规避文件路径问题
- 声名了 self.hr 变量，用来接收openapi的实例化
- 修改了对于segment button的错误调用
- 设定progress bar的长度是10
- 完善了segmented_button_callback函数
- 在detect_network函数中增加heartbeat初始化
- tabview_click函数中新增textbox清屏功能，以及实例化openapi，并做检测
2. [openapi.py] 取消了初始化中无限循环检测，因为阻塞了aio主界面进程！！！socket也无法多次连接！！！浪费了好多时间！！！很生气！！！！
- 通过tabview切换来实现重新连接，并保留了异常处理部分
- 将所有的 __xxxx 函数都替换成 xxxx 函数，去掉了 __
- 使用current_path来规避文件路径问题
3. [do_brake.py] 初步完成了机器状态收集的功能，还需要完善
- 使用current_path来规避文件路径问题
- 新增validate_resp函数，校验数据
- 完善了调用接口
> **关于HMI接口** > **关于HMI接口**
> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00 > - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00

2
aio/assets/templates/heartbeat
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@@ -1 +1 @@
0 1

1
aio/code/__init__.py Normal file
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@@ -0,0 +1 @@
__all__ = ['automatic_test', 'data_process']

94
aio/code/aio.py
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@@ -1,3 +1,4 @@
import sys
import tkinter import tkinter
from os.path import exists, dirname from os.path import exists, dirname
from os import getcwd from os import getcwd
@@ -7,12 +8,10 @@ import customtkinter
from time import time, strftime, localtime, sleep from time import time, strftime, localtime, sleep
from urllib.request import urlopen from urllib.request import urlopen
from socket import setdefaulttimeout from socket import setdefaulttimeout
import data_process.brake as brake from data_process import *
import data_process.current as current from automatic_test import *
import data_process.iso as iso
import data_process.wavelogger as wavelogger
import automatic_test.openapi as openapi
current_path = dirname(__file__)
customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light" customtkinter.set_appearance_mode("System") # Modes: "System" (standard), "Dark", "Light"
customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue" customtkinter.set_default_color_theme("blue") # Themes: "blue" (standard), "green", "dark-blue"
customtkinter.set_widget_scaling(1.1) # widget dimensions and text size customtkinter.set_widget_scaling(1.1) # widget dimensions and text size
@@ -73,6 +72,7 @@ class App(customtkinter.CTk):
super().__init__() super().__init__()
self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold") self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
self.w_param = 84 self.w_param = 84
self.hr = None
# ===================================================================== # =====================================================================
# configure window # configure window
self.title("AIO - All in one automatic toolbox") self.title("AIO - All in one automatic toolbox")
@@ -142,7 +142,7 @@ class App(customtkinter.CTk):
# For data process tab END ===================================================================== # For data process tab END =====================================================================
# For automatic test tab START ===================================================================== # For automatic test tab START =====================================================================
# create buttons # create buttons
self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), font=self.my_font, command=lambda value='机器状态': self.thread_it(self.segmented_button_callback())) self.seg_button = customtkinter.CTkSegmentedButton(self.tabview.tab('Automatic Test'), font=self.my_font, command=lambda value='机器状态': self.thread_it(self.segmented_button_callback))
self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew") self.seg_button.grid(row=1, column=2, columnspan=12, padx=(20, 10), pady=(10, 10), sticky="ew")
self.seg_button.configure(values=["无效功能", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"]) self.seg_button.configure(values=["无效功能", "触发急停", "停止运动", "继续运动", "零点位姿", "机器状态", "告警信息"])
self.seg_button.set("无效功能") self.seg_button.set("无效功能")
@@ -150,7 +150,7 @@ class App(customtkinter.CTk):
# create progress bar # create progress bar
self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test')) self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew") self.progressbar.grid(row=5, column=1, padx=5, pady=5, sticky="ew")
self.progressbar.configure(mode="determinnate") self.progressbar.configure(mode="determinnate", width=10)
self.progressbar.start() self.progressbar.start()
# create widgits_at # create widgits_at
for widgit in widgits_at: for widgit in widgits_at:
@@ -189,44 +189,70 @@ class App(customtkinter.CTk):
tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......") tkinter.messagebox.showwarning(title="版本更新", message="连接服务器失败，无法确认当前是否是最新版本......")
# functions below ↓ ---------------------------------------------------------------------------------------- # functions below ↓ ----------------------------------------------------------------------------------------
def segmented_button_callback(self):
value = self.seg_button.get()
print(f"segment button is triggered: {value}")
match value:
case '触发急停':
pass
case '停止运动':
pass
case '继续运动':
pass
case '零点位姿':
pass
case '机器状态':
pass
case '告警信息':
pass
def detect_network(self):
current_path = dirname(__file__)
while True:
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
pb_color = 'green' if f_h.read().strip() == '1' else 'red'
self.progressbar.configure(progress_color=pb_color)
sleep(3)
def thread_it(self, func, *args): def thread_it(self, func, *args):
""" 将函数打包进线程 """ """ 将函数打包进线程 """
self.myThread = Thread(target=func, args=args) self.myThread = Thread(target=func, args=args)
self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。 self.myThread.daemon = True # 主线程退出就直接让子线程跟随退出,不论是否运行完成。
self.myThread.start() self.myThread.start()
def segmented_button_callback(self):
value = self.seg_button.get()
self.textbox.configure(state='normal')
match value:
case '触发急停':
self.textbox.delete(index1='1.0', index2='end')
self.write2textbox(f"segment button is triggered: {value}")
case '停止运动':
self.textbox.delete(index1='1.0', index2='end')
self.write2textbox(f"segment button is triggered: {value}")
case '继续运动':
self.textbox.delete(index1='1.0', index2='end')
self.write2textbox(f"segment button is triggered: {value}")
case '零点位姿':
self.textbox.delete(index1='1.0', index2='end')
self.write2textbox(f"segment button is triggered: {value}")
case '机器状态':
self.textbox.configure(state='normal')
self.textbox.delete(index1='1.0', index2='end')
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
connection_state = f_h.read().strip()
if connection_state == '0':
self.write2textbox("无法连接机器人，检查是否已经使用Robot Assist软件连接机器，重试中...")
else:
do_brake.main(self.hr, 'get_state', self.write2textbox)
case '告警信息':
self.textbox.delete(index1='1.0', index2='end')
self.write2textbox(f"segment button is triggered: {value}")
self.textbox.configure(state='disable')
def detect_network(self):
with open(f"{current_path}/../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
f_h.write('0')
while True:
with open(f'{current_path}/../assets/templates/heartbeat', 'r', encoding='utf-8') as f_h:
pb_color = 'green' if f_h.read().strip() == '1' else 'red'
self.progressbar.configure(progress_color=pb_color)
sleep(3)
def tabview_click(self): def tabview_click(self):
self.initialization() self.initialization()
self.textbox.configure(state='normal')
self.textbox.delete(index1='1.0', index2='end')
self.textbox.configure(state='disabled')
tab_name = self.tabview.get() tab_name = self.tabview.get()
if tab_name == 'Data Process': if tab_name == 'Data Process':
self.menu_main_dp.set("Start Here!") self.menu_main_dp.set("Start Here!")
elif tab_name == 'Automatic Test': elif tab_name == 'Automatic Test':
self.menu_main_at.set("Start Here!") self.menu_main_at.set("Start Here!")
with open(f"{current_path}/../assets/templates/heartbeat", "r", encoding='utf-8') as f_h:
connection_state = f_h.read().strip()
if connection_state == '0' or self.hr is None:
self.hr = openapi.HmiRequest()
def initialization(self): def initialization(self):
tab_name = self.tabview.get() tab_name = self.tabview.get()
@@ -492,10 +518,6 @@ class App(customtkinter.CTk):
if __name__ == "__main__": if __name__ == "__main__":
t_hr = Thread(target=openapi.HmiRequest)
t_hr.daemon = True
t_hr.start()
aio = App() aio = App()
aio.net_detect = Thread(target=aio.detect_network) aio.net_detect = Thread(target=aio.detect_network)
aio.net_detect.daemon = True aio.net_detect.daemon = True

1
aio/code/automatic_test/__init__.py Normal file
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@@ -0,0 +1 @@
__all__ = ['openapi', 'do_brake']

69
aio/code/automatic_test/do_brake.py
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@@ -1,6 +1,61 @@
import openapi import json
from os.path import dirname
from sys import argv
current_path = dirname(__file__)
def validate_resp(_id, response, w2t):
match _id:
case 'DATA ERR':
w2t(f"数据处理错误，需要确认", 0, 4, 'red')
case 'DATA READ ERR':
w2t(f"无法读取数据，需要确认", 0, 3, 'red')
case 'NOT SUPPORT':
w2t(f"不支持的功能，需要确认", 0, 2, 'red')
if not response:
w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red')
def get_state(hr, w2t):
# 获取机器状态
_id = hr.excution('state.get_state')
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
else:
_response = json.loads(_msg)['data']
validate_resp(_id, _response, w2t)
stat_desc = {'engine': '上电状态', 'operate': '操作模式', 'rc_state': '控制器状态', 'robot_action': '机器人动作', 'safety_mode': '安全模式', 'servo_mode': '伺服工作模式', 'task_space': '工作任务空间'}
for component, state in _response.items():
w2t(f"{stat_desc[component]}: {state}")
_id = hr.excution('device.get_params')
_msg = hr.get_from_id(_id)
if not _msg:
w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red')
else:
_response = json.loads(_msg)['data']['devices']
validate_resp(_id, _response, w2t)
dev_desc = {0: '伺服版本', 1: '伺服参数', 2: '安全板固件', 3: '控制器', 4: '通讯总线', 5: '解释器', 6: '运动控制', 8: '力控版本', 9: '末端固件', 10: '机型文件', 11: '环境包'}
dev_vers = {}
for device in _response:
dev_vers[device['type']] = device['version']
for i in sorted(dev_desc.keys()):
w2t(f"{dev_desc[i]}: {dev_vers[i]}")
def main(hr, func, w2t):
# func: get_state/
match func:
case 'get_state':
get_state(hr, w2t)
if __name__ == '__main__':
main(*argv[1:])
hr = openapi.HmiRequest()
# 一、设置/检测机器人状态： # 一、设置/检测机器人状态：
# 1. 上电 # 1. 上电
@@ -19,13 +74,3 @@ hr = openapi.HmiRequest()
# 四 # 四
# _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_manual')
# print(hr.get_from_id(_id))

119
aio/code/automatic_test/openapi.py
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@@ -3,52 +3,51 @@ import socket
import threading import threading
import selectors import selectors
import time import time
import os from os.path import dirname
MAX_FRAME_SIZE = 1024 MAX_FRAME_SIZE = 1024
socket.setdefaulttimeout(3) socket.setdefaulttimeout(3)
current_path = dirname(__file__)
class HmiRequest(object): class HmiRequest(object):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
while True: try:
try: self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.c.connect(('192.168.0.160', 5050))
# self.c.connect(('192.168.0.160', 5050)) # self.c.connect(('192.168.84.129', 5050))
self.c.connect(('192.168.84.129', 5050)) self.c.setblocking(False)
self.c.setblocking(False) self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.c_msg = [] self.c_xs.connect(('192.168.0.160', 6666))
self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # self.c_xs.connect(('192.168.84.129', 6666))
# self.c_xs.connect(('192.168.0.160', 6666)) self.c_xs.setblocking(False)
self.c_xs.connect(('192.168.84.129', 6666)) with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
self.c_xs.setblocking(False) f_h.write('1')
self.c_msg_xs = [] except Exception as Err:
break with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
except Exception as Err: f_h.write('0')
current_path = os.path.dirname(__file__) print("Connection failed, please try to re-connect via switching tabs...")
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
f_h.write('0')
print("Connection failed, will try again after 2 seconds...") self.c_msg = []
time.sleep(2) self.c_msg_xs = []
self.t_heartbeat = threading.Thread(target=self.__heartbeat)
self.t_heartbeat.daemon = True
self.t_heartbeat.start()
self.t_unpackage = threading.Thread(target=self.__unpackage, args=(self.c, ))
self.t_unpackage.daemon = True
self.t_unpackage.start()
self.t_unpackage_xs = threading.Thread(target=self.__unpackage_xs, args=(self.c_xs, ))
self.t_unpackage_xs.daemon = True
self.t_unpackage_xs.start()
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
self.flag_xs = 0 self.flag_xs = 0
self.response_xs = '' self.response_xs = ''
def __header_check(self, index, data): self.t_heartbeat = threading.Thread(target=self.heartbeat)
self.t_heartbeat.daemon = True
self.t_heartbeat.start()
self.t_unpackage = threading.Thread(target=self.unpackage, args=(self.c, ))
self.t_unpackage.daemon = True
self.t_unpackage.start()
self.t_unpackage_xs = threading.Thread(target=self.unpackage_xs, args=(self.c_xs, ))
self.t_unpackage_xs.daemon = True
self.t_unpackage_xs.start()
def header_check(self, index, data):
try: try:
_frame_size = int.from_bytes(data[index:index+2], byteorder='big') _frame_size = int.from_bytes(data[index:index+2], byteorder='big')
_pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big') _pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big')
@@ -59,22 +58,21 @@ class HmiRequest(object):
return index+8, _frame_size, _pkg_size return index+8, _frame_size, _pkg_size
else: else:
print("数据有误，需要确认") print("数据有误，需要确认")
exit(9) return 'DATA ERR'
except Exception as Err: except Exception as Err:
print(f"Err = {Err}") print(f"Err = {Err}")
print("无法读取数据，需要确认") print("无法读取数据，需要确认")
exit(10) return 'DATA READ ERR'
def __heartbeat(self): def heartbeat(self):
current_path = os.path.dirname(__file__)
while True: while True:
_id = self.excution('controller.heart') _id = self.excution('controller.heart')
_flag = 1 if self.get_from_id(_id) else 0 _flag = 1 if self.get_from_id(_id) else 0
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h: with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
f_h.write(str(_flag)) f_h.write(str(_flag))
time.sleep(10) time.sleep(3)
def __msg_storage(self, response, flag=0): def msg_storage(self, response, flag=0):
messages = self.c_msg if flag == 0 else self.c_msg_xs messages = self.c_msg if flag == 0 else self.c_msg_xs
if len(messages) < 1000: if len(messages) < 1000:
messages.insert(0, response) messages.insert(0, response)
@@ -83,15 +81,15 @@ class HmiRequest(object):
while len(messages) > 1000: while len(messages) > 1000:
messages.pop() messages.pop()
def __get_response(self, data): def get_response(self, data):
_index = 0 _index = 0
while _index < len(data): while _index < len(data):
if self.flag == 0: if self.flag == 0:
_index, _frame_size, _pkg_size = self.__header_check(_index, data) _index, _frame_size, _pkg_size = self.header_check(_index, data)
if _pkg_size <= len(data) - _index: if _pkg_size <= len(data) - _index:
# 说明剩余部分的数据正好就是完整的包数据 # 说明剩余部分的数据正好就是完整的包数据
self.response = data[_index:_index+_pkg_size].decode() self.response = data[_index:_index+_pkg_size].decode()
self.__msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
_index += _pkg_size _index += _pkg_size
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
@@ -111,7 +109,7 @@ class HmiRequest(object):
_frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big') _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big')
if _frame_size == 0: if _frame_size == 0:
self.__msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
@@ -124,7 +122,7 @@ class HmiRequest(object):
else: else:
if _index+_frame_size <= MAX_FRAME_SIZE: if _index+_frame_size <= MAX_FRAME_SIZE:
self.response += data[_index:_index+_frame_size].decode() self.response += data[_index:_index+_frame_size].decode()
self.__msg_storage(flag=0, response=self.response) self.msg_storage(flag=0, response=self.response)
self.flag = 0 self.flag = 0
self.response = '' self.response = ''
self.leftover = 0 self.leftover = 0
@@ -134,19 +132,19 @@ class HmiRequest(object):
self.leftover = _index + _frame_size - MAX_FRAME_SIZE self.leftover = _index + _frame_size - MAX_FRAME_SIZE
break break
def __get_response_xs(self, data): def get_response_xs(self, data):
if self.flag_xs == 0: if self.flag_xs == 0:
if data[-1].decode() == '\r': if data[-1].decode() == '\r':
_responses = data.decode().split('\r') _responses = data.decode().split('\r')
for _response in _responses: for _response in _responses:
self.__msg_storage(flag=1, response=_response) self.msg_storage(flag=1, response=_response)
else: else:
_responses = data.decode().split('\r') _responses = data.decode().split('\r')
for _response in _responses[:-1]: for _response in _responses[:-1]:
if not _response: if not _response:
break break
self.__msg_storage(flag=1, response=_response) self.msg_storage(flag=1, response=_response)
self.response_xs = _responses[-1] self.response_xs = _responses[-1]
self.flag_xs = 1 self.flag_xs = 1
@@ -154,7 +152,7 @@ class HmiRequest(object):
if data[-1].decode() == '\r': if data[-1].decode() == '\r':
_responses = (self.response_xs.encode() + data).decode().split('\r') _responses = (self.response_xs.encode() + data).decode().split('\r')
for _response in _responses: for _response in _responses:
self.__msg_storage(flag=1, response=_response) self.msg_storage(flag=1, response=_response)
self.response_xs = '' self.response_xs = ''
self.flag_xs = 0 self.flag_xs = 0
@@ -163,7 +161,7 @@ class HmiRequest(object):
for _response in _responses[:-1]: for _response in _responses[:-1]:
if not _response: if not _response:
break break
self.__msg_storage(flag=1, response=_response) self.msg_storage(flag=1, response=_response)
self.response_xs = _responses[-1] self.response_xs = _responses[-1]
self.flag_xs = 1 self.flag_xs = 1
@@ -176,25 +174,24 @@ class HmiRequest(object):
return msg return msg
time.sleep(1) time.sleep(1)
else: else:
# print(f'无法查询到{msg_id}对应的响应')
return None return None
def __package(self, cmd): def package(self, cmd):
_frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big') _frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big')
_pkg_head = len(cmd).to_bytes(length=4, byteorder='big') _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
_protocol = int(2).to_bytes(length=1, byteorder='big') _protocol = int(2).to_bytes(length=1, byteorder='big')
_reserved = int(0).to_bytes(length=1, byteorder='big') _reserved = int(0).to_bytes(length=1, byteorder='big')
return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode() return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
def __package_xs(self, cmd): def package_xs(self, cmd):
return f"{json.dumps(cmd, separators=(',', ':'))}\r".encode() return f"{json.dumps(cmd, separators=(',', ':'))}\r".encode()
def __unpackage(self, sock): def unpackage(self, sock):
def to_read(conn): def to_read(conn):
data = conn.recv(MAX_FRAME_SIZE) data = conn.recv(MAX_FRAME_SIZE)
if data: if data:
# print(data) # print(data)
self.__get_response(data) self.get_response(data)
else: else:
print('closing', sock) print('closing', sock)
sel.unregister(conn) sel.unregister(conn)
@@ -209,12 +206,12 @@ class HmiRequest(object):
callback = key.data callback = key.data
callback(key.fileobj) callback(key.fileobj)
def __unpackage_xs(self, sock): def unpackage_xs(self, sock):
def to_read(conn): def to_read(conn):
data = conn.recv(1024) # Should be ready data = conn.recv(1024) # Should be ready
if data: if data:
# print(data) # print(data)
self.__get_response_xs(data) self.get_response_xs(data)
else: else:
print('closing', sock) print('closing', sock)
sel.unregister(conn) sel.unregister(conn)
@@ -229,32 +226,30 @@ class HmiRequest(object):
callback = key.data callback = key.data
callback(key.fileobj) callback(key.fileobj)
def __gen_id(self, command): def gen_id(self, command):
_now = time.time() _now = time.time()
_id = f"{command}-{_now}" _id = f"{command}-{_now}"
return _id return _id
def excution(self, command, flag=0, **kwargs): def excution(self, command, flg=0, **kwargs):
current_path = os.path.dirname(__file__) if flg == 0: # for old protocols
if flag == 0: # for old protocols
req = None req = None
try: try:
with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json: with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json:
req = json.load(f_json) req = json.load(f_json)
except: except:
print(f"暂不支持 {command} 功能，或确认该功能存在...") print(f"暂不支持 {command} 功能，或确认该功能存在...")
exit(1) return 'NOT SUPPORT'
match command: match command:
case 'state.set_tp_mode': case 'state.set_tp_mode':
req['data']['tp_mode'] = kwargs['tp_mode'] req['data']['tp_mode'] = kwargs['tp_mode']
case 1: case 1:
pass pass
req['id'] = self.__gen_id(command) req['id'] = self.gen_id(command)
print(f"req = {req}") print(f"req = {req}")
cmd = json.dumps(req, separators=(',', ':')) cmd = json.dumps(req, separators=(',', ':'))
self.c.send(self.__package(cmd)) self.c.send(self.package(cmd))
time.sleep(2) time.sleep(2)
return req['id'] return req['id']
else: # for xService else: # for xService

1
aio/code/data_process/__init__.py Normal file
View File

@@ -0,0 +1 @@
__all__ = ['brake', 'current', 'iso', 'wavelogger']