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
2024-06-25 21:40:27 +08:00
parent 6604f0ba06
commit a75775c869
8 changed files with 212 additions and 122 deletions
--- a/aio/README.md
+++ b/aio/README.md
@@ -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

-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）
 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
-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
-6. [aio.py] 增加了tabview的点击行为函数，每次点击tab都会初始化
-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
+
+v0.1.7.0(2024/06/21)-未发布
+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
+2. [openapi.py] 使用 int.to_bytes 和 int.from_bytes 替换 binascii 模块的功能
+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
   - 按钮：急停及恢复
   - 输入框：文件路径/角速度/减速比
   - OptionMenu：负载
   - 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
-9. [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
-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
+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
+4. [aio.py] 完成detect_network，并在main函数开启线程
+5. 将templates文件夹移动到assets内
+
+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**
 > - 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
--- a/aio/assets/templates/heartbeat
+++ b/aio/assets/templates/heartbeat
@@ -1 +1 @@
-0
+1
--- a/aio/code/init.py
+++ b/aio/code/init.py
@@ -0,0 +1 @@
+__all__ = ['automatic_test', 'data_process']
--- a/aio/code/aio.py
+++ b/aio/code/aio.py
@@ -1,3 +1,4 @@
+import sys
 import tkinter
 from os.path import exists, dirname
 from os import getcwd
@@ -7,12 +8,10 @@ import customtkinter
 from time import time, strftime, localtime, sleep
 from urllib.request import urlopen
 from socket import setdefaulttimeout
-import data_process.brake as brake
-import data_process.current as current
-import data_process.iso as iso
-import data_process.wavelogger as wavelogger
-import automatic_test.openapi as openapi
+from data_process import *
+from automatic_test import *

+current_path = dirname(__file__)
 customtkinter.set_appearance_mode("System")  # Modes: "System" (standard), "Dark", "Light"
 customtkinter.set_default_color_theme("blue")  # Themes: "blue" (standard), "green", "dark-blue"
 customtkinter.set_widget_scaling(1.1)  # widget dimensions and text size
@@ -73,6 +72,7 @@ class App(customtkinter.CTk):
        super().__init__()
        self.my_font = customtkinter.CTkFont(family="Consolas", size=16, weight="bold")
        self.w_param = 84
+        self.hr = None
        # =====================================================================
        # configure window
        self.title("AIO - All in one automatic toolbox")
@@ -142,7 +142,7 @@ class App(customtkinter.CTk):
        # For data process tab END =====================================================================
        # For automatic test tab START =====================================================================
        # 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.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")
@@ -150,7 +150,7 @@ class App(customtkinter.CTk):
        # create progress bar
        self.progressbar = customtkinter.CTkProgressBar(self.tabview.tab('Automatic Test'))
        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()
        # create 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......")
    # 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):
        """ 将函数打包进线程 """
        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.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):
        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()
        if tab_name == 'Data Process':
            self.menu_main_dp.set("Start Here!")
        elif tab_name == 'Automatic Test':
            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):
        tab_name = self.tabview.get()
@@ -492,10 +518,6 @@ class App(customtkinter.CTk):


 if __name__ == "__main__":
-    t_hr = Thread(target=openapi.HmiRequest)
-    t_hr.daemon = True
-    t_hr.start()
-
    aio = App()
    aio.net_detect = Thread(target=aio.detect_network)
    aio.net_detect.daemon = True
--- a/aio/code/automatic_test/init.py
+++ b/aio/code/automatic_test/init.py
@@ -0,0 +1 @@
+__all__ = ['openapi', 'do_brake']
--- a/aio/code/automatic_test/do_brake.py
+++ b/aio/code/automatic_test/do_brake.py
@@ -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：
 #   1. 上电
@@ -19,13 +74,3 @@ hr = openapi.HmiRequest()

 # 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))
--- a/aio/code/automatic_test/openapi.py
+++ b/aio/code/automatic_test/openapi.py
@@ -3,52 +3,51 @@ import socket
 import threading
 import selectors
 import time
-import os
+from os.path import dirname

 MAX_FRAME_SIZE = 1024
 socket.setdefaulttimeout(3)
+current_path = dirname(__file__)


 class HmiRequest(object):
    def __init__(self):
        super().__init__()
-        while True:
        try:
            self.c = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-                # self.c.connect(('192.168.0.160', 5050))
-                self.c.connect(('192.168.84.129', 5050))
+            self.c.connect(('192.168.0.160', 5050))
+            # self.c.connect(('192.168.84.129', 5050))
            self.c.setblocking(False)
-                self.c_msg = []
            self.c_xs = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-                # self.c_xs.connect(('192.168.0.160', 6666))
-                self.c_xs.connect(('192.168.84.129', 6666))
+            self.c_xs.connect(('192.168.0.160', 6666))
+            # self.c_xs.connect(('192.168.84.129', 6666))
            self.c_xs.setblocking(False)
-                self.c_msg_xs = []
-                break
+            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
+                f_h.write('1')
        except Exception as Err:
-                current_path = os.path.dirname(__file__)
            with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_h:
                f_h.write('0')
+            print("Connection failed, please try to re-connect via switching tabs...")

-                print("Connection failed, will try again after 2 seconds...")
-                time.sleep(2)
-
-        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.c_msg = []
+        self.c_msg_xs = []
        self.flag = 0
        self.response = ''
        self.leftover = 0
        self.flag_xs = 0
        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:
            _frame_size = int.from_bytes(data[index:index+2], 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
            else:
                print("数据有误，需要确认")
-                exit(9)
+                return 'DATA ERR'
        except Exception as Err:
            print(f"Err = {Err}")
            print("无法读取数据，需要确认")
-            exit(10)
+            return 'DATA READ ERR'

-    def __heartbeat(self):
-        current_path = os.path.dirname(__file__)
+    def heartbeat(self):
        while True:
            _id = self.excution('controller.heart')
            _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:
                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
        if len(messages) < 1000:
            messages.insert(0, response)
@@ -83,15 +81,15 @@ class HmiRequest(object):
            while len(messages) > 1000:
                messages.pop()

-    def __get_response(self, data):
+    def get_response(self, data):
        _index = 0
        while _index < len(data):
            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:
                    # 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.__msg_storage(flag=0, response=self.response)
+                    self.msg_storage(flag=0, response=self.response)
                    _index += _pkg_size
                    self.flag = 0
                    self.response = ''
@@ -111,7 +109,7 @@ class HmiRequest(object):

                _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big')
                if _frame_size == 0:
-                    self.__msg_storage(flag=0, response=self.response)
+                    self.msg_storage(flag=0, response=self.response)
                    self.flag = 0
                    self.response = ''
                    self.leftover = 0
@@ -124,7 +122,7 @@ class HmiRequest(object):
                else:
                    if _index+_frame_size <= MAX_FRAME_SIZE:
                        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.response = ''
                        self.leftover = 0
@@ -134,19 +132,19 @@ class HmiRequest(object):
                        self.leftover = _index + _frame_size - MAX_FRAME_SIZE
                        break

-    def __get_response_xs(self, data):
+    def get_response_xs(self, data):
        if self.flag_xs == 0:
            if data[-1].decode() == '\r':
                _responses = data.decode().split('\r')
                for _response in _responses:
-                    self.__msg_storage(flag=1, response=_response)
+                    self.msg_storage(flag=1, response=_response)

            else:
                _responses = data.decode().split('\r')
                for _response in _responses[:-1]:
                    if not _response:
                        break
-                    self.__msg_storage(flag=1, response=_response)
+                    self.msg_storage(flag=1, response=_response)

                self.response_xs = _responses[-1]
                self.flag_xs = 1
@@ -154,7 +152,7 @@ class HmiRequest(object):
            if data[-1].decode() == '\r':
                _responses = (self.response_xs.encode() + data).decode().split('\r')
                for _response in _responses:
-                    self.__msg_storage(flag=1, response=_response)
+                    self.msg_storage(flag=1, response=_response)

                self.response_xs = ''
                self.flag_xs = 0
@@ -163,7 +161,7 @@ class HmiRequest(object):
                for _response in _responses[:-1]:
                    if not _response:
                        break
-                    self.__msg_storage(flag=1, response=_response)
+                    self.msg_storage(flag=1, response=_response)

                self.response_xs = _responses[-1]
                self.flag_xs = 1
@@ -176,25 +174,24 @@ class HmiRequest(object):
                    return msg
            time.sleep(1)
        else:
-            # print(f'无法查询到{msg_id}对应的响应')
            return None

-    def __package(self, cmd):
+    def package(self, cmd):
        _frame_head = (len(cmd)+6).to_bytes(length=2, byteorder='big')
        _pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
        _protocol = int(2).to_bytes(length=1, byteorder='big')
        _reserved = int(0).to_bytes(length=1, byteorder='big')
        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()

-    def __unpackage(self, sock):
+    def unpackage(self, sock):
        def to_read(conn):
            data = conn.recv(MAX_FRAME_SIZE)
            if data:
                # print(data)
-                self.__get_response(data)
+                self.get_response(data)
            else:
                print('closing', sock)
                sel.unregister(conn)
@@ -209,12 +206,12 @@ class HmiRequest(object):
                callback = key.data
                callback(key.fileobj)

-    def __unpackage_xs(self, sock):
+    def unpackage_xs(self, sock):
        def to_read(conn):
            data = conn.recv(1024)  # Should be ready
            if data:
                # print(data)
-                self.__get_response_xs(data)
+                self.get_response_xs(data)
            else:
                print('closing', sock)
                sel.unregister(conn)
@@ -229,32 +226,30 @@ class HmiRequest(object):
                callback = key.data
                callback(key.fileobj)

-    def __gen_id(self, command):
+    def gen_id(self, command):
        _now = time.time()
        _id = f"{command}-{_now}"
        return _id

-    def excution(self, command, flag=0, **kwargs):
-        current_path = os.path.dirname(__file__)
-
-        if flag == 0:  # for old protocols
+    def excution(self, command, flg=0, **kwargs):
+        if flg == 0:  # for old protocols
            req = None
            try:
                with open(f'{current_path}/../../assets/templates/{command}.json', encoding='utf-8', mode='r') as f_json:
                    req = json.load(f_json)
            except:
                print(f"暂不支持 {command} 功能，或确认该功能存在...")
-                exit(1)
+                return 'NOT SUPPORT'

            match command:
                case 'state.set_tp_mode':
                    req['data']['tp_mode'] = kwargs['tp_mode']
                case 1:
                    pass
-            req['id'] = self.__gen_id(command)
+            req['id'] = self.gen_id(command)
            print(f"req = {req}")
            cmd = json.dumps(req, separators=(',', ':'))
-            self.c.send(self.__package(cmd))
+            self.c.send(self.package(cmd))
            time.sleep(2)
            return req['id']
        else:  # for xService
--- a/aio/code/data_process/init.py
+++ b/aio/code/data_process/init.py
@@ -0,0 +1 @@
+__all__ = ['brake', 'current', 'iso', 'wavelogger']
				`@@ -0,0 +1 @@`
				`__all__ = ['automatic_test', 'data_process']`
				`@@ -0,0 +1 @@`
				`__all__ = ['brake', 'current', 'iso', 'wavelogger']`