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v0.1.7.4(2024/07/02)

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1. [APIs: openapi.py]
   - 增加了modbus的python实现
   - heartbeat函数修改发送间隔为1s
   - 清除了绝大部分调试性输出，发现太多的这种输出也会导致心跳丢包...，不清楚这个原理是什么
   - 在get_response函数中的while self.pkg > 0循环中，删除了else语句，因为它永不会被执行到
   - 在get_response函数中，修复一个bug，在flag==0的else语句中，补齐了index==6的情况
2. [APIs: do_current.py]
   - 完成了六个轴的电机电流动作的执行，以及数据采集
   - 完成了对应的RL程序的编写
3[APIs: aio.py]
   - 引入modbus实例化，并以参数的形式，传递给相应的tabview
   - 新增pre_warning函数，在做自动化测试之前，确保所有条件皆具备
This commit is contained in:
gitea
2024-07-02 21:48:00 +08:00
parent 4e4d760db4
commit aedac4c90c
6 changed files with 318 additions and 178 deletions
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154
aio/code/automatic_test/do_current.py
View File

@@ -82,10 +82,6 @@ def prj_to_xcore(prj_file):
ssh.close()
def modify_prj():
pass
def validate_resp(_id, response, w2t):
match _id:
case 'DATA ERR':
@@ -102,76 +98,120 @@ def execution(cmd, hr, w2t, **kwargs):
_id = hr.execution(cmd, **kwargs)
_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', tab_name='Automatic Test')
w2t(f"无法获取{_id}请求的响应信息", 0, 0, 'red', tab_name='Automatic Test')
else:
_response = loads(_msg)
validate_resp(_id, _response, w2t)
return _response
def run_rl(hr, w2t):
prj_path = 'target/_build/target.prj'
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'current'])
print(f"reload prj: {_response}")
_response = execution('overview.get_cur_prj', hr, w2t)
print(f"get cur prj name: {_response}")
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
print(f"set pp2main of prj: {_response}")
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
print(f"打开诊断: {_response}")
# _response = execution('diagnosis.get_params', hr, w2t)
# print(f"显示诊断状态: {_response}")
display_pdo_params = [
{"name": "hw_joint_vel_feedback", "channel": 0},
{"name": "hw_joint_vel_feedback", "channel": 1},
{"name": "hw_joint_vel_feedback", "channel": 2},
{"name": "hw_joint_vel_feedback", "channel": 3},
{"name": "hw_joint_vel_feedback", "channel": 4},
{"name": "hw_joint_vel_feedback", "channel": 5},
{"name": "device_servo_trq_feedback", "channel": 0},
{"name": "device_servo_trq_feedback", "channel": 1},
{"name": "device_servo_trq_feedback", "channel": 2},
{"name": "device_servo_trq_feedback", "channel": 3},
{"name": "device_servo_trq_feedback", "channel": 4},
{"name": "device_servo_trq_feedback", "channel": 5},
{"name": "device_safety_estop", "channel": 0},
def run_rl(hr, md, w2t):
# need to run
conditions = [
" scenario(0, j1_p, j1_n, p_speed, p_tool)",
" scenario(0, j2_p, j2_n, p_speed, p_tool)",
" scenario(0, j3_p, j3_n, p_speed, p_tool)",
" scenario(0, j4_p, j4_n, p_speed, p_tool)",
" scenario(0, j5_p, j5_n, p_speed, p_tool)",
" scenario(0, j6_p, j6_n, p_speed, p_tool)",
" scenario(1, j5_p, j5_n, p_speed, p_tool)",
" scenario(2, j5_p, j5_n, p_speed, p_tool)",
" scenario(3, j5_p, j5_n, p_speed, p_tool)",
]
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
print(f"执行采样: {_response}")
_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
print(f"run prj: {_response}")
sleep(10)
for condition in conditions:
disc = {0: '一轴', 1: '二轴', 2: '三轴', 3: '四轴', 4: '五轴', 5: '六轴', 6: '场景一', 7: '场景二', 8: '场景三'}
number = conditions.index(condition)
w2t(f"正在执行{disc[number]}测试......", 0, 0, 'purple', 'Automatic Test')
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
print(f"关闭诊断: {_response}")
# 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
md.trigger_estop()
md.reset_estop()
_response = execution('state.switch_manual', hr, w2t)
_response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
_response = execution('state.switch_motor_off', hr, w2t)
_response = execution('state.switch_manual', hr, w2t)
# 3. 修改未要执行的场景
ssh = SSHClient()
ssh.set_missing_host_key_policy(AutoAddPolicy())
ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
cmd = f'cd /home/luoshi/bin/controller/; '
cmd += f'sudo sed -i "/scenario/d" projects/target/current/main.mod; '
cmd += f'sudo sed -i "/DONOTDELETE/i {condition}" projects/target/current/main.mod; '
stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
stdin.write('luoshi2019' + '\n')
stdin.flush()
print(stdout.read().decode()) # 必须得输出一下stdout，才能正确执行sudo
print(stderr.read().decode()) # 顺便也执行以下stderr
for _msg in hr.c_msg:
if 'diagnosis.result' in _msg:
print(_msg)
# _msg = json.loads(_msg)
# if 'channel' in _msg and 'name' in _msg:
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
# print(f"diagnosis.result: {_msg}")
# count += 1
# if count * 50 > 5 * 1000:
# break
# 4. reload工程后，pp2main
prj_path = 'target/_build/target.prj'
_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['current'])
_response = execution('overview.get_cur_prj', hr, w2t)
_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['current'])
print(f"set pp2main of prj: {_response}")
# 5. 切换自动并上电
_response = execution('state.switch_auto', hr, w2t)
_response = execution('state.switch_motor_on', hr, w2t)
# 6. 开始运行程序，单轴运行15s
_response = execution('rl_task.run', hr, w2t, tasks=['current'])
print(f"run prj: {_response}")
for i in range(3):
if md.read_ready_to_go() == 1:
md.write_act(True)
sleep(1)
md.write_act(False)
break
else:
sleep(1)
continue
else:
w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
# 7. 打开诊断曲线，并执行采集
_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
display_pdo_params = [
{"name": "hw_joint_vel_feedback", "channel": 0},
{"name": "hw_joint_vel_feedback", "channel": 1},
{"name": "hw_joint_vel_feedback", "channel": 2},
{"name": "hw_joint_vel_feedback", "channel": 3},
{"name": "hw_joint_vel_feedback", "channel": 4},
{"name": "hw_joint_vel_feedback", "channel": 5},
{"name": "device_servo_trq_feedback", "channel": 0},
{"name": "device_servo_trq_feedback", "channel": 1},
{"name": "device_servo_trq_feedback", "channel": 2},
{"name": "device_servo_trq_feedback", "channel": 3},
{"name": "device_servo_trq_feedback", "channel": 4},
{"name": "device_servo_trq_feedback", "channel": 5},
{"name": "device_safety_estop", "channel": 0},
]
_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
sleep(8)
# 8. 关闭诊断曲线，停止程序运行，下电并且换成手动模式
_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
_response = execution('rl_task.stop', hr, w2t, tasks=['current'])
_response = execution('state.switch_motor_off', hr, w2t)
_response = execution('state.switch_manual', hr, w2t)
sleep(1)
# 9. 处理数据并输出文件
# for _msg in hr.c_msg:
# if 'diagnosis.result' in _msg:
# print(_msg)
# _msg = json.loads(_msg)
# if 'channel' in _msg and 'name' in _msg:
# if int(_msg['channel']) == 0 and _msg['name'] == 'device_servo_trq_feedback':
# print(f"diagnosis.result: {_msg}")
# count += 1
# if count * 50 > 5 * 1000:
# break
def main(path, hr, w2t):
def main(path, hr, md, w2t):
data_dirs, data_files = traversal_files(path, w2t)
config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
prj_to_xcore(prj_file)
run_rl(hr, w2t)
run_rl(hr, md, w2t)
if __name__ == '__main__':

283
aio/code/automatic_test/openapi.py
View File

@@ -5,12 +5,115 @@ import selectors
from time import time, sleep
from os.path import dirname
from binascii import b2a_hex, a2b_hex
from pymodbus.client.tcp import ModbusTcpClient
MAX_FRAME_SIZE = 1024
setdefaulttimeout(2)
current_path = dirname(__file__)
class ModbusRequest(object):
def __init__(self, w2t, tab_name):
super().__init__()
self.w2t = w2t
self.tab_name = tab_name
self.host = '192.168.0.160'
self.port = 502
self.c = ModbusTcpClient(self.host, self.port)
self.c.connect()
def motor_off(self):
try:
self.c.write_register(40002, 1)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def motor_on(self):
try:
self.c.write_register(40003, 1)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def trigger_estop(self):
try:
self.c.write_register(40012, 0)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法触发软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def reset_estop(self):
try:
self.c.write_register(40012, 1)
# self.c.write_register(40001, 1)
# sleep(0.2)
# self.c.write_register(40001, 1)
# sleep(0.2)
# self.c.write_register(40001, 0)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def clear_alarm(self):
try:
self.c.write_register(40000, 1)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法清除告警，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def get_cart_vel(self):
try:
results = self.c.read_holding_registers(40537, 7)
print(f"cart vel: {results.registers}")
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法读取笛卡尔速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def get_jnt_vel(self):
try:
results = self.c.read_holding_registers(40579, 7)
print(f"joint vel: {results.registers}")
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法读取关节速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def get_tcp_vel(self):
try:
results = self.c.read_holding_registers(40607, 7)
print(f"tcp vel: {results.registers}")
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法读取TCP速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def get_tcp_mag_vel(self):
try:
results = self.c.read_holding_registers(40621, 1)
print(f"tcp mag: {results.registers}")
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法读取TCP合成速度，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def write_act(self, number):
try:
self.c.write_register(41000, number)
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法发送执行信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
def read_ready_to_go(self):
try:
results = self.c.read_holding_registers(41001, 1)
return results.registers[0]
except Exception as Err:
self.w2t(f"{Err}")
self.w2t("无法读取准备信号，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
class HmiRequest(object):
def __init__(self, w2t):
super().__init__()
@@ -62,6 +165,10 @@ class HmiRequest(object):
self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write('1')
md = ModbusRequest(self.w2t, self.tab_name)
md.reset_estop()
md.clear_alarm()
md.write_act(False)
except Exception as Err:
self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
@@ -87,9 +194,9 @@ class HmiRequest(object):
self.half_length = len(data) - index
self.half = data[index:]
print(f"in head check half: {self.half}")
print(f"in head check length: {self.half_length}")
print(f"in head check data: {data}")
# print(f"in head check half: {self.half}")
# print(f"in head check length: {self.half_length}")
# print(f"in head check data: {data}")
self.broke = 100
index += MAX_FRAME_SIZE
@@ -101,11 +208,12 @@ class HmiRequest(object):
_flag = '0' if self.get_from_id(_id) is None else '1'
print(f"hb = {_flag}", end=' ')
print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end=' ')
with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
f_hb.write(_flag)
if _flag == '0':
self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
sleep(2)
self.w2t(f"{_id} 心跳丢失，连接失败，重新连接中...", 0, 7, 'red', tab_name=self.tab_name)
sleep(1)
# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
# for msg in self.c_msg:
# f.write(str(loads(msg)) + '\n')
@@ -122,12 +230,12 @@ class HmiRequest(object):
def get_response(self, data):
# 流式获取单次请求的响应
if self.broke == 100:
print("*****************************************")
print(f"in get_response if broke == 100 half = {self.half}")
# print("*****************************************")
# print(f"in get_response if broke == 100 half = {self.half}")
_half_1 = self.half
_half_2 = data[:8-self.half_length]
_full = _half_1 + _half_2
print(f"in get_response if broke == 100 _full = {_full}")
# print(f"in get_response if broke == 100 _full = {_full}")
_frame_size = int.from_bytes(_full[:2], byteorder='big')
_pkg_size = int.from_bytes(_full[2:6], byteorder='big')
@@ -139,9 +247,9 @@ class HmiRequest(object):
self.pkg_size = _pkg_size
self.index = 8 - self.half_length
print(f"broke == 100 index = {self.index}")
print(f"broke == 100 INIT pkg size = {self.pkg_size}")
print(f"broke == 100 data = {data}")
# print(f"broke == 100 index = {self.index}")
# print(f"broke == 100 INIT pkg size = {self.pkg_size}")
# print(f"broke == 100 data = {data}")
else:
if self.reset_index == 1:
self.index = 0
@@ -153,9 +261,9 @@ class HmiRequest(object):
self.broke = 0
else:
self.index, _frame_size, self.pkg_size = self.header_check(self.index, data)
print(f"broke == 0 index = {self.index-8}")
print(f"broke == 0 INIT pkg size = {self.pkg_size}")
print(f"broke == 0 data = {data}")
# print(f"broke == 0 index = {self.index-8}")
# print(f"broke == 0 INIT pkg size = {self.pkg_size}")
# print(f"broke == 0 data = {data}")
if self.index > MAX_FRAME_SIZE:
break
# 详见解包原理数据.txt，self.pkg_size 永远是除了当前data之外剩余未处理的数据大小
@@ -164,10 +272,10 @@ class HmiRequest(object):
self.response = data[self.index:self.index + self.pkg_size].decode()
self.msg_storage(flag=0, response=self.response)
self.index += self.pkg_size
print(f"in flag=0 if data = {data}")
print(f"in flag=0 if index = {self.index}")
print(f"in flag=0 if pkg size = {self.pkg_size}")
print(f"in flag=0 if leftover = {self.leftover}")
# print(f"in flag=0 if data = {data}")
# print(f"in flag=0 if index = {self.index}")
# print(f"in flag=0 if pkg size = {self.pkg_size}")
# print(f"in flag=0 if leftover = {self.leftover}")
self.flag = 0
self.response = ''
self.leftover = 0
@@ -177,7 +285,7 @@ class HmiRequest(object):
# 执行到这里说明该data是首包，且有有分包的情况发生了也就是该响应数据量稍微比较大
# 分散在了相邻的两个及以上的data中，需要flag=1的处理
self.flag = 1
if self.index+_frame_size-6 < len(data):
if self.index+_frame_size-6 <= len(data):
self.response = data[self.index:self.index+_frame_size-6].decode()
self.index += (_frame_size-6)
self.pkg_size -= (_frame_size-6) # 详见解包原理数据.txt，self.pkg_size
@@ -191,13 +299,13 @@ class HmiRequest(object):
if self.index + 2 == len(data):
self.broke = 1
self.half = data[-2:]
print(f"flag = 0 encounter broke == 1 - half = {self.half}")
# print(f"flag = 0 encounter broke == 1 - half = {self.half}")
elif self.index + 1 == len(data):
self.broke = 2
self.half = data[-1:]
print(f"flag = 0 encounter broke == 2 - half = {self.half}")
# print(f"flag = 0 encounter broke == 2 - half = {self.half}")
elif self.index == len(data):
print('flag = 0 encounter broke == 3')
# print('flag = 0 encounter broke == 3')
self.broke = 3
self.index += MAX_FRAME_SIZE
@@ -211,10 +319,10 @@ class HmiRequest(object):
self.index += MAX_FRAME_SIZE
self.reset_index = 1
print(f"in flag=0 else data = {data}")
print(f"in flag=0 else index = {self.index}")
print(f"in flag=0 else pkg size = {self.pkg_size}")
print(f"in flag=0 else leftover = {self.leftover}")
# print(f"in flag=0 else data = {data}")
# print(f"in flag=0 else index = {self.index}")
# print(f"in flag=0 else pkg size = {self.pkg_size}")
# print(f"in flag=0 else leftover = {self.leftover}")
# break
elif self.flag == 1:
# 继续处理之前为接收完的数据，处理完之后将flag重置为0
@@ -223,23 +331,23 @@ class HmiRequest(object):
self.index = 0
self.leftover = int.from_bytes(self.half, byteorder='big')
self.broke = 0
print(f"broke 1 leftover: {self.leftover}")
# print(f"broke 1 leftover: {self.leftover}")
elif self.broke == 2:
self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
self.index = 1
self.broke = 0
print(f"broke 2 leftover: {self.leftover}")
# print(f"broke 2 leftover: {self.leftover}")
if self.broke == 3:
self.leftover = int.from_bytes(data[:2], byteorder='big')
print(f"broke 3 leftover: {self.leftover}")
# print(f"broke 3 leftover: {self.leftover}")
self.index = 2
self.broke = 0
while self.pkg_size > 0:
if self.index + self.leftover <= len(data):
print(f"in pkg size > 0 loop before if data = {data}")
print(f"in pkg size > 0 loop before if index = {self.index}")
print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
# print(f"in pkg size > 0 loop before if data = {data}")
# print(f"in pkg size > 0 loop before if index = {self.index}")
# print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
# print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
self.response += data[self.index:self.index + self.leftover].decode()
@@ -252,10 +360,10 @@ class HmiRequest(object):
self.leftover = 0
self.pkg_size = 0
self.reset_index = 0 if self.index < len(data) else 1
print(f"in pkg size > 0 loop break if data = {data}")
print(f"in pkg size > 0 loop break if index = {self.index}")
print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
# print(f"in pkg size > 0 loop break if data = {data}")
# print(f"in pkg size > 0 loop break if index = {self.index}")
# print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
# print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
break
self.index += self.leftover
@@ -268,29 +376,29 @@ class HmiRequest(object):
if self.index + 2 == len(data):
self.broke = 1
self.half = data[-2:]
print(f"flag = 1 encounter broke == 1 - half = {self.half}")
# print(f"flag = 1 encounter broke == 1 - half = {self.half}")
elif self.index + 1 == len(data):
self.broke = 2
self.half = data[-1:]
print(f"flag = 1 encounter broke == 2 - half = {self.half}")
# print(f"flag = 1 encounter broke == 2 - half = {self.half}")
elif self.index == len(data):
print('flag = 1 encounter broke == 3')
# print('flag = 1 encounter broke == 3')
self.broke = 3
self.index += MAX_FRAME_SIZE
self.reset_index = 1
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
print(f"in pkg size > 0 loop after if data = {data}")
print(f"in pkg size > 0 loop after if index = {self.index}")
print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
# print(f"in pkg size > 0 loop after if data = {data}")
# print(f"in pkg size > 0 loop after if index = {self.index}")
# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
# print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
else:
print(f"in pkg size > 0 loop before else data = {data}")
print(f"in pkg size > 0 loop before else index = {self.index}")
print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
# print(f"in pkg size > 0 loop before else data = {data}")
# print(f"in pkg size > 0 loop before else index = {self.index}")
# print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
# print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
self.response += data[self.index:].decode()
@@ -298,22 +406,21 @@ class HmiRequest(object):
self.pkg_size -= (len(data) - self.index)
self.index += MAX_FRAME_SIZE
self.reset_index = 1
print(f"in pkg size > 0 loop after else data = {data}")
print(f"in pkg size > 0 loop after else index = {self.index}")
print(f"in pkg size > 0 loop after else pkg size = {self.pkg_size}")
print(f"in pkg size > 0 loop after else leftover = {self.leftover}")
# print(f"in pkg size > 0 loop after else data = {data}")
# print(f"in pkg size > 0 loop after else index = {self.index}")
# print(f"in pkg size > 0 loop after else pkg size = {self.pkg_size}")
# print(f"in pkg size > 0 loop after else leftover = {self.leftover}")
if self.leftover < 0 or self.leftover > 1024:
self.w2t("", 0, 111, 'red')
break # 该data内数据已经处理完毕，需要跳出大循环，通过break和index
else:
self.msg_storage(flag=0, response=self.response)
self.flag = 0
self.response = ''
self.leftover = 0
self.pkg_size = 0
self.index -= 2
# self.reset_index = 1
self.reset_index = 0 if (len(data) > self.index > 0) else 1
# else:
# self.msg_storage(flag=0, response=self.response)
# self.flag = 0
# self.response = ''
# self.leftover = 0
# self.pkg_size = 0
# self.index -= 2
# self.reset_index = 0 if (len(data) > self.index > 0) else 1
def get_response_xs(self, data):
if self.flag_xs == 0:
@@ -354,8 +461,8 @@ class HmiRequest(object):
for i in range(3):
for msg in messages:
if msg_id is None:
self.w2t("未能成功获取到 message id...", 0, 10, 'red', tab_name=self.tab_name)
if msg_id in msg:
return None
elif msg_id in msg:
return msg
sleep(1)
else:
@@ -372,37 +479,13 @@ class HmiRequest(object):
return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
def unpackage(self, sock):
def to_read(conn):
def to_read(conn, mask):
data = conn.recv(MAX_FRAME_SIZE)
if data:
# print(data)
self.get_response(data)
else:
print('closing', sock)
sel.unregister(conn)
conn.close()
sel = selectors.DefaultSelector()
sel.register(sock, selectors.EVENT_READ, to_read)
while self.t_bool:
try:
events = sel.select()
except:
sleep(1)
continue
for key, mask in events:
callback = key.data
callback(key.fileobj)
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)
else:
print('closing', sock)
print('closing', conn)
sel.unregister(conn)
conn.close()
@@ -413,7 +496,27 @@ class HmiRequest(object):
events = sel.select()
for key, mask in events:
callback = key.data
callback(key.fileobj)
callback(key.fileobj, mask)
def unpackage_xs(self, sock):
def to_read(conn, mask):
data = conn.recv(1024) # Should be ready
if data:
# print(data)
self.get_response_xs(data)
else:
print('closing', conn)
sel.unregister(conn)
conn.close()
sel = selectors.DefaultSelector()
sel.register(sock, selectors.EVENT_READ, to_read)
while self.t_bool:
events = sel.select()
for key, mask in events:
callback = key.data
callback(key.fileobj, mask)
def gen_id(self, command):
_now = time()