diff --git a/aio/README.md b/aio/README.md index 8931b89..263b234 100644 --- a/aio/README.md +++ b/aio/README.md @@ -367,8 +367,15 @@ v0.1.7.1.1(2024/06/29) - 规定了所有的网络异常均由heartbeat函数来定义，其他异常不做中断处理 - execution函数中合并了case条件 - 增加了N多指令，多为诊断曲线和rl程序相关 + - 日志保留条数修改为20000 3. [APIs: do_brake.py] - 实现自动推送工程到xCore并自动运行 - 初步实现了Modbus发送消息和检测状态 4. [APIs: do_current.py] - 将do_brake.py的内容完全拷贝到此文件，待修改 + +v0.1.7.2(2024/06/30) +1. 初步完成NB4h_R580_3BH7.zip工程的设计 +2. 重新研究了解包操作，重新实现了一版 +3. 修改openapi.pi中excution为execution函数 +4. 增减了解包原理性文档 \ No newline at end of file diff --git a/aio/assets/autotest.xml b/aio/assets/autotest.xml new file mode 100644 index 0000000..12abf31 --- /dev/null +++ b/aio/assets/autotest.xml @@ -0,0 +1,926 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t' +b'\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0\x04\x00.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.' +b'0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\x04\x00\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n' +b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n' +b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.' +b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : ' +b'\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429' +b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"' + + + + + +\x04\x00\x00\x00-h\x02\x00 + +pkg_size = 11624 + +10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624 + +第一帧有效 - 402 +b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0' + +中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节 + +最后一帧有效 - 1004 +b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}' + + + +b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}' + +frame size 92 +package size 86 +length 86 {\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}' \ No newline at end of file diff --git a/aio/code/aio.py b/aio/code/aio.py index 6763988..3561d2a 100644 --- a/aio/code/aio.py +++ b/aio/code/aio.py @@ -441,7 +441,7 @@ class App(customtkinter.CTk): self.textbox.delete(index1='1.0', index2='end') flag, *args = self.check_param() - func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main} + func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main} if flag == 1: func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox) elif flag == 2: @@ -452,6 +452,8 @@ class App(customtkinter.CTk): func_dict[flag](path=args[0], w2t=self.write2textbox) elif flag == 5: func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox) + elif flag == 6: + func_dict[flag](path=args[0], hr=self.hr, w2t=self.write2textbox) else: tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", ) diff --git a/aio/code/automatic_test/btn_functions.py b/aio/code/automatic_test/btn_functions.py index 9536e79..9b3c705 100644 --- a/aio/code/automatic_test/btn_functions.py +++ b/aio/code/automatic_test/btn_functions.py @@ -15,7 +15,7 @@ def validate_resp(_id, response, w2t): def execution(cmd, hr, w2t, **kwargs): - _id = hr.excution(cmd, **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') diff --git a/aio/code/automatic_test/do_current.py b/aio/code/automatic_test/do_current.py index d60c955..1e894c4 100644 --- a/aio/code/automatic_test/do_current.py +++ b/aio/code/automatic_test/do_current.py @@ -7,9 +7,6 @@ from json import loads def traversal_files(path, w2t): - # 功能：以列表的形式分别返回指定路径下的文件和文件夹，不包含子目录 - # 参数：路径 - # 返回值：路径下的文件夹列表 路径下的文件列表 if not exists(path): msg = f'数据文件夹{path}不存在，请确认后重试......' w2t(msg, 0, 1, 'red', tab_name='Automatic Test') @@ -26,33 +23,29 @@ def traversal_files(path, w2t): def check_files(data_dirs, data_files, w2t): - if len(data_dirs) != 0 or len(data_files) != 5: - w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + if len(data_dirs) != 0 or len(data_files) != 3: + w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') - config_file = reach33 = reach66 = reach100 = prj_file = None + config_file = current_file = prj_file = None for data_file in data_files: filename = data_file.split('\\')[-1] if filename == 'configs.xlsx': config_file = data_file - elif filename.startswith('reach33_') and filename.endswith('.xlsx'): - reach33 = data_file - elif filename.startswith('reach66_') and filename.endswith('.xlsx'): - reach66 = data_file - elif filename.startswith('reach100_') and filename.endswith('.xlsx'): - reach100 = data_file + elif filename == 'T_电机电流.xlsx': + current_file = data_file elif filename.endswith('.zip'): prj_file = data_file else: - w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test') + w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') - if config_file and reach33 and reach66 and reach100 and prj_file: + if config_file and current_file and prj_file: w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test') - return config_file, reach33, reach66, reach100, prj_file + return config_file, current_file, prj_file else: - w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') - w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') + w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下三个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test') + w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test') def prj_to_xcore(prj_file): @@ -105,7 +98,7 @@ def validate_resp(_id, response, w2t): def execution(cmd, hr, w2t, **kwargs): - _id = hr.excution(cmd, **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') @@ -116,38 +109,54 @@ def execution(cmd, hr, w2t, **kwargs): def run_rl(hr, w2t): - # prj_path = 'target/_build/target.prj' - # _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com']) - # 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=['Mechanical_Test_Com']) - # print(f"set pp2main of prj: {_response}") - # - # _response = execution('state.switch_auto', hr, w2t) - # _response = execution('state.switch_motor_on', hr, w2t) - # - # _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com']) - # print(f"run prj: {_response}") - # sleep(10) - # - # _response = execution('state.switch_motor_off', hr, w2t) - # _response = execution('state.switch_manual', 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": "device_servo_trq_feedback", "channel": 0} + {"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}, + {"name": "device_safety_estop", "channel": 0}, + {"name": "device_safety_estop", "channel": 0}, + {"name": "device_safety_estop", "channel": 0}, + {"name": "device_safety_estop", "channel": 0}, + {"name": "device_safety_estop", "channel": 0}, ] _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params) print(f"执行采样: {_response}") - sleep(5) + + _response = execution('rl_task.run', hr, w2t, tasks=['brake']) + print(f"run prj: {_response}") + sleep(10) _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False) print(f"关闭诊断: {_response}") - # sleep(1) + + _response = execution('state.switch_motor_off', hr, w2t) + _response = execution('state.switch_manual', hr, w2t) + for _msg in hr.c_msg: if 'diagnosis.result' in _msg: print(_msg) @@ -160,14 +169,11 @@ def run_rl(hr, w2t): # break - else: - sleep(1) +def main(path, hr, w2t): - -def main(path, hr, loadsel, w2t): data_dirs, data_files = traversal_files(path, w2t) - config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t) - # prj_to_xcore(prj_file) + config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t) + prj_to_xcore(prj_file) run_rl(hr, w2t) diff --git a/aio/code/automatic_test/openapi.py b/aio/code/automatic_test/openapi.py index 40b609a..fc0c373 100644 --- a/aio/code/automatic_test/openapi.py +++ b/aio/code/automatic_test/openapi.py @@ -4,6 +4,7 @@ from threading import Thread import selectors from time import time, sleep from os.path import dirname +from binascii import b2a_hex, a2b_hex MAX_FRAME_SIZE = 1024 setdefaulttimeout(2) @@ -25,6 +26,10 @@ class HmiRequest(object): self.response_xs = '' self.t_bool = True self.tab_name = 'Automatic Test' + self.pkg_size = 0 + self.broke = 0 + self.half = 0 + self.half_length = 0 self.sock_conn() self.t_heartbeat = Thread(target=self.heartbeat) @@ -55,14 +60,20 @@ 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') - + # print(f"打开诊断:") + # self.execution('diagnosis.open', open=True, display_open=True) + # display_pdo_params = [] + # print(f"执行采样") + # self.execution('diagnosis.set_params', display_pdo_params=display_pdo_params) + # print(f"关闭诊断") + # self.execution('diagnosis.open', open=False, display_open=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: f_hb.write('0') def header_check(self, index, data): - try: + if index + 8 < len(data): _frame_size = int.from_bytes(data[index:index+2], byteorder='big') _pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big') _protocol = int.from_bytes(data[index+6:index+7], byteorder='big') @@ -71,16 +82,31 @@ class HmiRequest(object): if _reserved == 0 and _protocol == 2: return index+8, _frame_size, _pkg_size else: - print("数据有误，需要确认") - return 'DATA ERR' - except Exception as Err: - print(f"Err = {Err}") - print("无法读取数据，需要确认") - return 'DATA READ ERR' + print(data) + print("head check 数据有误，需要确认") + self.w2t("", 0, 1, 'red', 'Automatic Test') + else: + self.half_length = len(data)-index + if self.half_length == 1: + self.half = a2b_hex(str(hex(data[-1]))[2:].rjust(1, '0')) + else: + self.half = data[index:] + + print(f"in head check half data: {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 + return index, 0, 0 + # except Exception as Err: + # print(data) + # print(f"Err = {Err}") + # print("无法读取数据，需要确认") def heartbeat(self): while self.t_bool: - _id = self.excution('controller.heart') + _id = self.execution('controller.heart') _flag = '0' if self.get_from_id(_id) is None else '1' print(f"hb = {_flag}", end=' ') with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb: @@ -103,55 +129,191 @@ class HmiRequest(object): messages.pop() def get_response(self, data): - _index = 0 + # 流式获取单次请求的响应 + if self.broke == 100: + print("*****************************************") + print(f"half data: {self.half}") + _half_1 = self.half + if self.half_length == 7: + _half_2 = a2b_hex(str(hex(data[0]))[2:].rjust(1, '0')) + else: + _half_2 = data[:8-self.half_length] + _full = _half_1 + _half_2 + print(f"full data: {_full}") + _frame_size = _full[:2] + _frame_size = int.from_bytes(_full[:2], byteorder='big') + _pkg_size = int.from_bytes(_full[2:6], byteorder='big') + _protocol = int.from_bytes(_full[6:7], byteorder='big') + _reserved = int.from_bytes(_full[7:8], byteorder='big') + if _reserved != 0 or _protocol != 2: + print(data) + print("数据有误，需要确认") + self.w2t("", 0, 1, 'red', 'Automatic Test') + self.pkg_size = _pkg_size + _index = 8 - self.half_length + else: + _index = 0 + while _index < len(data): + # flag 为 0，则说明是一次新的请求对应的一次新的相应，也就是需要首次解包 if self.flag == 0: - _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() + if self.broke == 100: + self.broke = 0 + else: + _index, _frame_size, self.pkg_size = self.header_check(_index, data) + if _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 + print(f"INIT pkg size = {self.pkg_size}") + if self.pkg_size <= len(data) - _index: + # 说明剩余部分的数据就在当前data内，没有被分割 + self.response = data[_index:_index+self.pkg_size].decode() self.msg_storage(flag=0, response=self.response) - _index += _pkg_size + _index += self.pkg_size + print(f"in flag=0 if data = {data}") + print(f"in flag=0 if index = {_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 - elif _pkg_size > len(data) - _index: - # 说有有分包的情况发生了，需要flag=1的处理 + elif self.pkg_size > len(data) - _index: + # 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 self.response = data[_index:].decode() - self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头 + self.leftover = _frame_size - 6 - (len(data) - _index) # 这里的 _index 不一定是 0 + self.pkg_size -= (len(data) - _index) # 详见解包原理数据.txt，self.pkg_size + print(f"in flag=0 else data = {data}") + print(f"in flag=0 else index = {_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: - # 处理完之后，将flag重置为0 - _index = self.leftover - self.response += data[:_index].decode() - _index += 2 + # 继续处理之前为接收完的数据，处理完之后将flag重置为0 + # !!!需要注意的是，包头/帧头也是有可能被分割开的!!!但是目前该程序未实现此种情况!!! + if self.broke == 1: + self.leftover = int.from_bytes(int(self.half).to_bytes(1, byteorder='big') + data[0:1], byteorder='big') + _index = 1 + self.broke = 0 + print(f"broke 1 leftover: {self.leftover}") + if self.broke == 2: + self.leftover = int.from_bytes(data[:2], byteorder='big') + print(f"broke 2 leftover: {self.leftover}") + _index = 2 + self.broke = 0 + while self.pkg_size > 0: + print(f"flag = 1 INIT _index = {_index}") + if _index + self.leftover <= len(data): + self.response += data[_index:_index + self.leftover].decode() + self.pkg_size -= self.leftover + if self.pkg_size == 0: + self.msg_storage(flag=0, response=self.response) + _index += self.leftover + print(f"break _index = {_index}") + print(data) + self.flag = 0 + self.response = '' + self.leftover = 0 + self.pkg_size = 0 + break - _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big') - if _frame_size == 0: + _index += self.leftover + if _index+2 <= len(data): + self.leftover = int.from_bytes(data[_index:_index+2], byteorder='big') + _index += 2 + else: + self.leftover = 4096 + if _index == len(data) -1: + self.broke = 1 + self.half = data[-1] + print(f"half = {self.half}") + print('+++++++++++++++++++++') + _index += MAX_FRAME_SIZE + elif _index == len(data): + _index += MAX_FRAME_SIZE + self.broke = 2 + print(f"in if data = {data}") + print(f"in if index = {_index}") + print(f"in if pkg size = {self.pkg_size}") + print(f"in if leftover = {self.leftover}") + if self.leftover > 1024: + print('============================') + else: + self.response += data[_index:].decode() + self.leftover -= (len(data) - _index) + self.pkg_size -= (len(data) - _index) + # if self.pkg_size == 0: + # self.msg_storage(flag=0, response=self.response) + # _index += MAX_FRAME_SIZE + # self.flag = 0 + # self.response = '' + # self.leftover = 0 + # break + + _index += MAX_FRAME_SIZE + print(f"in else data = {data}") + print(f"in else index = {_index}") + print(f"in else pkg size = {self.pkg_size}") + print(f"in else leftover = {self.leftover}") + if self.leftover > 1024: + print('============================') + break + else: self.msg_storage(flag=0, response=self.response) self.flag = 0 self.response = '' self.leftover = 0 - break - - if _frame_size == MAX_FRAME_SIZE: - self.leftover = MAX_FRAME_SIZE - (len(data) - _index) - self.response += data[_index:].decode() - break - 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.flag = 0 - self.response = '' - self.leftover = 0 - break - else: - self.response += data[_index:].decode() - self.leftover = _index + _frame_size - MAX_FRAME_SIZE - break + _index -= 2 + # _index = 0 + # while _index < len(data): + # if self.flag == 0: + # _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) + # _index += _pkg_size + # self.flag = 0 + # self.response = '' + # self.leftover = 0 + # elif _pkg_size > len(data) - _index: + # # 说有有分包的情况发生了，需要flag=1的处理 + # self.flag = 1 + # self.response = data[_index:].decode() + # self.leftover = _frame_size - 6 - (len(data) - _index) # 其实就是常量 2，其中 6 就是六个字节的包头 + # break + # + # elif self.flag == 1: + # # 处理完之后，将flag重置为0 + # _index = self.leftover + # self.response += data[:_index].decode() + # _index += 2 + # + # _frame_size = int.from_bytes(data[_index - 2:_index], byteorder='big') + # if _frame_size == 0: + # self.msg_storage(flag=0, response=self.response) + # self.flag = 0 + # self.response = '' + # self.leftover = 0 + # break + # + # if _frame_size == MAX_FRAME_SIZE: + # self.leftover = MAX_FRAME_SIZE - (len(data) - _index) + # self.response += data[_index:].decode() + # break + # 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.flag = 0 + # self.response = '' + # self.leftover = 0 + # break + # else: + # self.response += data[_index:].decode() + # self.leftover = _index + _frame_size - MAX_FRAME_SIZE + # break def get_response_xs(self, data): if self.flag_xs == 0: @@ -213,7 +375,7 @@ class HmiRequest(object): def to_read(conn): data = conn.recv(MAX_FRAME_SIZE) if data: - # print(data) + print(data) self.get_response(data) else: print('closing', sock) @@ -254,7 +416,7 @@ class HmiRequest(object): _id = f"{command}-{_now}" return _id - def excution(self, command, flg=0, **kwargs): + def execution(self, command, flg=0, **kwargs): if flg == 0: # for old protocols req = None try: @@ -287,7 +449,7 @@ class HmiRequest(object): cmd = dumps(req, separators=(',', ':')) try: self.c.send(self.package(cmd)) - sleep(2) + sleep(1) except Exception as Err: self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)