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
This commit is contained in:
@ -441,7 +441,7 @@ class App(customtkinter.CTk):
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self.textbox.delete(index1='1.0', index2='end')
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flag, *args = self.check_param()
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func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main}
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func_dict = {1: brake.main, 2: current.main, 3: iso.main, 4: wavelogger.main, 5: do_brake.main, 6: do_current.main}
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if flag == 1:
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func_dict[flag](path=args[0], vel=args[1], trq=args[2], estop=args[3], w2t=self.write2textbox)
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elif flag == 2:
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@ -452,6 +452,8 @@ class App(customtkinter.CTk):
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func_dict[flag](path=args[0], w2t=self.write2textbox)
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elif flag == 5:
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func_dict[flag](path=args[0], hr=self.hr, loadsel=args[1], w2t=self.write2textbox)
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elif flag == 6:
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func_dict[flag](path=args[0], hr=self.hr, w2t=self.write2textbox)
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else:
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tkinter.messagebox.showerror(title="参数错误", message="请检查对应参数是否填写正确！", )
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@ -15,7 +15,7 @@ def validate_resp(_id, response, w2t):
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.excution(cmd, **kwargs)
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
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@ -7,9 +7,6 @@ from json import loads
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def traversal_files(path, w2t):
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# 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
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# 参数：路径
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# 返回值：路径下的文件夹列表 路径下的文件列表
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if not exists(path):
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msg = f'数据文件夹{path}不存在，请确认后重试......'
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w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
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@ -26,33 +23,29 @@ def traversal_files(path, w2t):
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def check_files(data_dirs, data_files, w2t):
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if len(data_dirs) != 0 or len(data_files) != 5:
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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')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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if len(data_dirs) != 0 or len(data_files) != 3:
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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')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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config_file = reach33 = reach66 = reach100 = prj_file = None
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config_file = current_file = prj_file = None
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for data_file in data_files:
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filename = data_file.split('\\')[-1]
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if filename == 'configs.xlsx':
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config_file = data_file
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elif filename.startswith('reach33_') and filename.endswith('.xlsx'):
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reach33 = data_file
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elif filename.startswith('reach66_') and filename.endswith('.xlsx'):
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reach66 = data_file
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elif filename.startswith('reach100_') and filename.endswith('.xlsx'):
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reach100 = data_file
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elif filename == 'T_电机电流.xlsx':
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current_file = data_file
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elif filename.endswith('.zip'):
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prj_file = data_file
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else:
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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')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
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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')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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if config_file and reach33 and reach66 and reach100 and prj_file:
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if config_file and current_file and prj_file:
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w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
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return config_file, reach33, reach66, reach100, prj_file
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return config_file, current_file, prj_file
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else:
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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')
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w2t(' 1. configs.xlsx\n 2. reach33/reach66/reach100_xxxx.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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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')
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w2t(' 1. configs.xlsx\n 2. T_电机电流.xlsx\n 3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
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def prj_to_xcore(prj_file):
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@ -105,7 +98,7 @@ def validate_resp(_id, response, w2t):
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def execution(cmd, hr, w2t, **kwargs):
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_id = hr.excution(cmd, **kwargs)
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_id = hr.execution(cmd, **kwargs)
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_msg = hr.get_from_id(_id)
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if not _msg:
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w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
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@ -116,38 +109,54 @@ def execution(cmd, hr, w2t, **kwargs):
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def run_rl(hr, w2t):
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# prj_path = 'target/_build/target.prj'
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# _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['Durable_Test_Com', 'Mechanical_Test_Com'])
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# print(f"reload prj: {_response}")
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# # _response = execution('overview.get_cur_prj', hr, w2t)
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# # print(f"get cur prj name: {_response}")
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# _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['Mechanical_Test_Com'])
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# print(f"set pp2main of prj: {_response}")
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#
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# _response = execution('state.switch_auto', hr, w2t)
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# _response = execution('state.switch_motor_on', hr, w2t)
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#
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# _response = execution('rl_task.run', hr, w2t, tasks=['Mechanical_Test_Com'])
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# print(f"run prj: {_response}")
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# sleep(10)
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#
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# _response = execution('state.switch_motor_off', hr, w2t)
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# _response = execution('state.switch_manual', hr, w2t)
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prj_path = 'target/_build/target.prj'
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_response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'current'])
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print(f"reload prj: {_response}")
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_response = execution('overview.get_cur_prj', hr, w2t)
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print(f"get cur prj name: {_response}")
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_response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake'])
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print(f"set pp2main of prj: {_response}")
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_response = execution('state.switch_auto', hr, w2t)
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_response = execution('state.switch_motor_on', hr, w2t)
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_response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
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print(f"打开诊断: {_response}")
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# _response = execution('diagnosis.get_params', hr, w2t)
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# print(f"显示诊断状态: {_response}")
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display_pdo_params = [
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{"name": "device_servo_trq_feedback", "channel": 0}
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{"name": "hw_joint_vel_feedback", "channel": 0},
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{"name": "hw_joint_vel_feedback", "channel": 1},
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{"name": "hw_joint_vel_feedback", "channel": 2},
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{"name": "hw_joint_vel_feedback", "channel": 3},
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{"name": "hw_joint_vel_feedback", "channel": 4},
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{"name": "hw_joint_vel_feedback", "channel": 5},
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{"name": "device_servo_trq_feedback", "channel": 0},
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{"name": "device_servo_trq_feedback", "channel": 1},
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{"name": "device_servo_trq_feedback", "channel": 2},
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{"name": "device_servo_trq_feedback", "channel": 3},
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{"name": "device_servo_trq_feedback", "channel": 4},
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{"name": "device_servo_trq_feedback", "channel": 5},
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{"name": "device_safety_estop", "channel": 0},
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{"name": "device_safety_estop", "channel": 0},
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{"name": "device_safety_estop", "channel": 0},
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{"name": "device_safety_estop", "channel": 0},
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{"name": "device_safety_estop", "channel": 0},
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{"name": "device_safety_estop", "channel": 0},
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]
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_response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
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print(f"执行采样: {_response}")
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sleep(5)
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_response = execution('rl_task.run', hr, w2t, tasks=['brake'])
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print(f"run prj: {_response}")
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sleep(10)
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_response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
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print(f"关闭诊断: {_response}")
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# sleep(1)
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_response = execution('state.switch_motor_off', hr, w2t)
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_response = execution('state.switch_manual', hr, w2t)
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for _msg in hr.c_msg:
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if 'diagnosis.result' in _msg:
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print(_msg)
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@ -160,14 +169,11 @@ def run_rl(hr, w2t):
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# break
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else:
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sleep(1)
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def main(path, hr, w2t):
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def main(path, hr, loadsel, w2t):
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data_dirs, data_files = traversal_files(path, w2t)
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config_file, reach33, reach66, reach100, prj_file = check_files(data_dirs, data_files, w2t)
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# prj_to_xcore(prj_file)
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config_file, current_file, prj_file = check_files(data_dirs, data_files, w2t)
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prj_to_xcore(prj_file)
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run_rl(hr, w2t)
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@ -4,6 +4,7 @@ from threading import Thread
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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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MAX_FRAME_SIZE = 1024
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setdefaulttimeout(2)
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@ -25,6 +26,10 @@ class HmiRequest(object):
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self.response_xs = ''
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self.t_bool = True
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self.tab_name = 'Automatic Test'
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self.pkg_size = 0
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self.broke = 0
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self.half = 0
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self.half_length = 0
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self.sock_conn()
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self.t_heartbeat = Thread(target=self.heartbeat)
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@ -55,14 +60,20 @@ 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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# print(f"打开诊断:")
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# self.execution('diagnosis.open', open=True, display_open=True)
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# display_pdo_params = []
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# print(f"执行采样")
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# self.execution('diagnosis.set_params', display_pdo_params=display_pdo_params)
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# print(f"关闭诊断")
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# self.execution('diagnosis.open', open=False, display_open=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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f_hb.write('0')
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def header_check(self, index, data):
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try:
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if index + 8 < len(data):
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_frame_size = int.from_bytes(data[index:index+2], byteorder='big')
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_pkg_size = int.from_bytes(data[index+2:index+6], byteorder='big')
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_protocol = int.from_bytes(data[index+6:index+7], byteorder='big')
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@ -71,16 +82,31 @@ class HmiRequest(object):
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if _reserved == 0 and _protocol == 2:
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return index+8, _frame_size, _pkg_size
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else:
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print("数据有误，需要确认")
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return 'DATA ERR'
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except Exception as Err:
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print(f"Err = {Err}")
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print("无法读取数据，需要确认")
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return 'DATA READ ERR'
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print(data)
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print("head check 数据有误，需要确认")
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self.w2t("", 0, 1, 'red', 'Automatic Test')
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else:
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self.half_length = len(data)-index
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if self.half_length == 1:
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self.half = a2b_hex(str(hex(data[-1]))[2:].rjust(1, '0'))
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else:
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self.half = data[index:]
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print(f"in head check half data: {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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return index, 0, 0
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# except Exception as Err:
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# print(data)
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# print(f"Err = {Err}")
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# print("无法读取数据，需要确认")
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def heartbeat(self):
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while self.t_bool:
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_id = self.excution('controller.heart')
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_id = self.execution('controller.heart')
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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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with open(f"{current_path}/../../assets/templates/heartbeat", "w", encoding='utf-8') as f_hb:
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@ -103,55 +129,191 @@ class HmiRequest(object):
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messages.pop()
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def get_response(self, data):
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_index = 0
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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"half data: {self.half}")
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_half_1 = self.half
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if self.half_length == 7:
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_half_2 = a2b_hex(str(hex(data[0]))[2:].rjust(1, '0'))
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else:
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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"full data: {_full}")
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_frame_size = _full[:2]
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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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_protocol = int.from_bytes(_full[6:7], byteorder='big')
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_reserved = int.from_bytes(_full[7:8], byteorder='big')
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if _reserved != 0 or _protocol != 2:
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print(data)
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print("数据有误，需要确认")
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self.w2t("", 0, 1, 'red', 'Automatic Test')
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self.pkg_size = _pkg_size
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_index = 8 - self.half_length
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else:
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_index = 0
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while _index < len(data):
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# 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
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if self.flag == 0:
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_index, _frame_size, _pkg_size = self.header_check(_index, data)
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if _pkg_size <= len(data) - _index:
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# 说明剩余部分的数据正好就是完整的包数据
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self.response = data[_index:_index+_pkg_size].decode()
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if self.broke == 100:
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self.broke = 0
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else:
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_index, _frame_size, self.pkg_size = self.header_check(_index, data)
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if _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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print(f"INIT pkg size = {self.pkg_size}")
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if self.pkg_size <= len(data) - _index:
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# 说明剩余部分的数据就在当前data内，没有被分割
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self.response = data[_index:_index+self.pkg_size].decode()
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self.msg_storage(flag=0, response=self.response)
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_index += _pkg_size
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_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 = {_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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elif _pkg_size > len(data) - _index:
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# 说有有分包的情况发生了，需要flag=1的处理
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elif self.pkg_size > len(data) - _index:
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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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self.response = data[_index:].decode()
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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
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self.leftover = _frame_size - 6 - (len(data) - _index) # 这里的 _index 不一定是 0
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self.pkg_size -= (len(data) - _index) # 详见解包原理数据.txt，self.pkg_size
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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)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user