v0.1.7.4(2024/07/02)
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
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@ -5,12 +5,115 @@ import selectors
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from time import time, sleep
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from os.path import dirname
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from binascii import b2a_hex, a2b_hex
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from pymodbus.client.tcp import ModbusTcpClient
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MAX_FRAME_SIZE = 1024
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setdefaulttimeout(2)
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current_path = dirname(__file__)
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class ModbusRequest(object):
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def __init__(self, w2t, tab_name):
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super().__init__()
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self.w2t = w2t
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self.tab_name = tab_name
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self.host = '192.168.0.160'
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self.port = 502
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self.c = ModbusTcpClient(self.host, self.port)
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self.c.connect()
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def motor_off(self):
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try:
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self.c.write_register(40002, 1)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def motor_on(self):
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try:
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self.c.write_register(40003, 1)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def trigger_estop(self):
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try:
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self.c.write_register(40012, 0)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def reset_estop(self):
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try:
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self.c.write_register(40012, 1)
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# self.c.write_register(40001, 1)
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# sleep(0.2)
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# self.c.write_register(40001, 1)
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# sleep(0.2)
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# self.c.write_register(40001, 0)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def clear_alarm(self):
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try:
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self.c.write_register(40000, 1)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def get_cart_vel(self):
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try:
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results = self.c.read_holding_registers(40537, 7)
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print(f"cart vel: {results.registers}")
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def get_jnt_vel(self):
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try:
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results = self.c.read_holding_registers(40579, 7)
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print(f"joint vel: {results.registers}")
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def get_tcp_vel(self):
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try:
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results = self.c.read_holding_registers(40607, 7)
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print(f"tcp vel: {results.registers}")
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def get_tcp_mag_vel(self):
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try:
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results = self.c.read_holding_registers(40621, 1)
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print(f"tcp mag: {results.registers}")
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def write_act(self, number):
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try:
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self.c.write_register(41000, number)
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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def read_ready_to_go(self):
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try:
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results = self.c.read_holding_registers(41001, 1)
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return results.registers[0]
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except Exception as Err:
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self.w2t(f"{Err}")
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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)
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class HmiRequest(object):
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def __init__(self, w2t):
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super().__init__()
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@ -62,6 +165,10 @@ class HmiRequest(object):
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self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
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f_hb.write('1')
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md = ModbusRequest(self.w2t, self.tab_name)
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md.reset_estop()
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md.clear_alarm()
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md.write_act(False)
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except Exception as Err:
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self.w2t("Connection failed...", 0, 0, 'red', tab_name=self.tab_name)
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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
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@ -87,9 +194,9 @@ class HmiRequest(object):
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self.half_length = len(data) - index
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self.half = data[index:]
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print(f"in head check half: {self.half}")
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print(f"in head check length: {self.half_length}")
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print(f"in head check data: {data}")
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# print(f"in head check half: {self.half}")
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# print(f"in head check length: {self.half_length}")
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# print(f"in head check data: {data}")
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self.broke = 100
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index += MAX_FRAME_SIZE
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@ -101,11 +208,12 @@ class HmiRequest(object):
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_flag = '0' if self.get_from_id(_id) is None else '1'
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print(f"hb = {_flag}", end=' ')
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print(f"len(c_msg) = {len(self.c_msg)}", end=' ')
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print(f"len(c_msg_xs) = {len(self.c_msg_xs)}", end=' ')
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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
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f_hb.write(_flag)
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if _flag == '0':
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self.w2t(f"心跳丢失，连接失败，重新连接中...", 0, 0, 'red', tab_name=self.tab_name)
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sleep(2)
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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)
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sleep(1)
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# with open(f"{current_path}/../../assets/templates/c_msg.log", "w", encoding='utf-8') as f:
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# for msg in self.c_msg:
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# f.write(str(loads(msg)) + '\n')
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@ -122,12 +230,12 @@ class HmiRequest(object):
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def get_response(self, data):
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# 流式获取单次请求的响应
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if self.broke == 100:
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print("*****************************************")
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print(f"in get_response if broke == 100 half = {self.half}")
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# print("*****************************************")
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# print(f"in get_response if broke == 100 half = {self.half}")
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_half_1 = self.half
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_half_2 = data[:8-self.half_length]
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_full = _half_1 + _half_2
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print(f"in get_response if broke == 100 _full = {_full}")
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# print(f"in get_response if broke == 100 _full = {_full}")
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_frame_size = int.from_bytes(_full[:2], byteorder='big')
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_pkg_size = int.from_bytes(_full[2:6], byteorder='big')
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@ -139,9 +247,9 @@ class HmiRequest(object):
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self.pkg_size = _pkg_size
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self.index = 8 - self.half_length
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print(f"broke == 100 index = {self.index}")
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print(f"broke == 100 INIT pkg size = {self.pkg_size}")
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print(f"broke == 100 data = {data}")
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# print(f"broke == 100 index = {self.index}")
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# print(f"broke == 100 INIT pkg size = {self.pkg_size}")
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# print(f"broke == 100 data = {data}")
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else:
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if self.reset_index == 1:
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self.index = 0
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@ -153,9 +261,9 @@ class HmiRequest(object):
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self.broke = 0
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else:
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self.index, _frame_size, self.pkg_size = self.header_check(self.index, data)
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print(f"broke == 0 index = {self.index-8}")
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print(f"broke == 0 INIT pkg size = {self.pkg_size}")
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print(f"broke == 0 data = {data}")
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# print(f"broke == 0 index = {self.index-8}")
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# print(f"broke == 0 INIT pkg size = {self.pkg_size}")
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# print(f"broke == 0 data = {data}")
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if self.index > MAX_FRAME_SIZE:
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break
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# 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
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@ -164,10 +272,10 @@ class HmiRequest(object):
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self.response = data[self.index:self.index + self.pkg_size].decode()
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self.msg_storage(flag=0, response=self.response)
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self.index += self.pkg_size
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print(f"in flag=0 if data = {data}")
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print(f"in flag=0 if index = {self.index}")
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print(f"in flag=0 if pkg size = {self.pkg_size}")
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print(f"in flag=0 if leftover = {self.leftover}")
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# print(f"in flag=0 if data = {data}")
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# print(f"in flag=0 if index = {self.index}")
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# print(f"in flag=0 if pkg size = {self.pkg_size}")
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# print(f"in flag=0 if leftover = {self.leftover}")
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self.flag = 0
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self.response = ''
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self.leftover = 0
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@ -177,7 +285,7 @@ class HmiRequest(object):
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# 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
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# 分散在了相邻的两个及以上的data中，需要flag=1的处理
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self.flag = 1
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if self.index+_frame_size-6 < len(data):
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if self.index+_frame_size-6 <= len(data):
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self.response = data[self.index:self.index+_frame_size-6].decode()
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self.index += (_frame_size-6)
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self.pkg_size -= (_frame_size-6) # 详见解包原理数据.txt，self.pkg_size
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@ -191,13 +299,13 @@ class HmiRequest(object):
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if self.index + 2 == len(data):
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self.broke = 1
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self.half = data[-2:]
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print(f"flag = 0 encounter broke == 1 - half = {self.half}")
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# print(f"flag = 0 encounter broke == 1 - half = {self.half}")
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elif self.index + 1 == len(data):
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self.broke = 2
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self.half = data[-1:]
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print(f"flag = 0 encounter broke == 2 - half = {self.half}")
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# print(f"flag = 0 encounter broke == 2 - half = {self.half}")
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elif self.index == len(data):
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print('flag = 0 encounter broke == 3')
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# print('flag = 0 encounter broke == 3')
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self.broke = 3
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self.index += MAX_FRAME_SIZE
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@ -211,10 +319,10 @@ class HmiRequest(object):
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self.index += MAX_FRAME_SIZE
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self.reset_index = 1
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print(f"in flag=0 else data = {data}")
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print(f"in flag=0 else index = {self.index}")
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print(f"in flag=0 else pkg size = {self.pkg_size}")
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print(f"in flag=0 else leftover = {self.leftover}")
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# print(f"in flag=0 else data = {data}")
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# print(f"in flag=0 else index = {self.index}")
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# print(f"in flag=0 else pkg size = {self.pkg_size}")
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# print(f"in flag=0 else leftover = {self.leftover}")
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# break
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elif self.flag == 1:
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# 继续处理之前为接收完的数据，处理完之后将flag重置为0
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@ -223,23 +331,23 @@ class HmiRequest(object):
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self.index = 0
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self.leftover = int.from_bytes(self.half, byteorder='big')
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self.broke = 0
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print(f"broke 1 leftover: {self.leftover}")
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# print(f"broke 1 leftover: {self.leftover}")
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elif self.broke == 2:
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self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
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self.index = 1
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self.broke = 0
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print(f"broke 2 leftover: {self.leftover}")
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# print(f"broke 2 leftover: {self.leftover}")
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if self.broke == 3:
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self.leftover = int.from_bytes(data[:2], byteorder='big')
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print(f"broke 3 leftover: {self.leftover}")
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# print(f"broke 3 leftover: {self.leftover}")
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self.index = 2
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self.broke = 0
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while self.pkg_size > 0:
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if self.index + self.leftover <= len(data):
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print(f"in pkg size > 0 loop before if data = {data}")
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print(f"in pkg size > 0 loop before if index = {self.index}")
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print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
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print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
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# print(f"in pkg size > 0 loop before if data = {data}")
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# print(f"in pkg size > 0 loop before if index = {self.index}")
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# print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
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# print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
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if self.leftover < 0 or self.leftover > 1024:
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self.w2t("", 0, 111, 'red')
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self.response += data[self.index:self.index + self.leftover].decode()
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@ -252,10 +360,10 @@ class HmiRequest(object):
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self.leftover = 0
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self.pkg_size = 0
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self.reset_index = 0 if self.index < len(data) else 1
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print(f"in pkg size > 0 loop break if data = {data}")
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print(f"in pkg size > 0 loop break if index = {self.index}")
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print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
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print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
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# print(f"in pkg size > 0 loop break if data = {data}")
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# print(f"in pkg size > 0 loop break if index = {self.index}")
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# print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
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# print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
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break
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self.index += self.leftover
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@ -268,29 +376,29 @@ class HmiRequest(object):
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if self.index + 2 == len(data):
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self.broke = 1
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self.half = data[-2:]
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print(f"flag = 1 encounter broke == 1 - half = {self.half}")
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# print(f"flag = 1 encounter broke == 1 - half = {self.half}")
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elif self.index + 1 == len(data):
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self.broke = 2
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self.half = data[-1:]
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print(f"flag = 1 encounter broke == 2 - half = {self.half}")
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# print(f"flag = 1 encounter broke == 2 - half = {self.half}")
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elif self.index == len(data):
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print('flag = 1 encounter broke == 3')
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# print('flag = 1 encounter broke == 3')
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self.broke = 3
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self.index += MAX_FRAME_SIZE
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self.reset_index = 1
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break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
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print(f"in pkg size > 0 loop after if data = {data}")
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print(f"in pkg size > 0 loop after if index = {self.index}")
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print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
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print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
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# print(f"in pkg size > 0 loop after if data = {data}")
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# print(f"in pkg size > 0 loop after if index = {self.index}")
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# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
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# print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
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if self.leftover < 0 or self.leftover > 1024:
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self.w2t("", 0, 111, 'red')
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else:
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print(f"in pkg size > 0 loop before else data = {data}")
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print(f"in pkg size > 0 loop before else index = {self.index}")
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print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
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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()
|
||||
|
||||
Reference in New Issue
Block a user