612 lines
29 KiB
Python
612 lines
29 KiB
Python
from json import load, dumps
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from socket import socket, setdefaulttimeout, AF_INET, SOCK_STREAM
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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 pymodbus.client.tcp import ModbusTcpClient
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from pymodbus.payload import BinaryPayloadDecoder, BinaryPayloadBuilder
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from pymodbus.constants import Endian
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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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heartbeat = f'{current_path}/../assets/templates/heartbeat'
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class ModbusRequest(object):
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def __init__(self, w2t):
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super().__init__()
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self.w2t = w2t
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self.tab_name = 'openapi'
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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}\n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}\n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}\n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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sleep(0.2)
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self.c.write_register(40001, 0)
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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}\n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}\n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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except Exception as Err:
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self.w2t(f"{Err}\n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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except Exception as Err:
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self.w2t(f"{Err}\n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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except Exception as Err:
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self.w2t(f"{Err}\n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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except Exception as Err:
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self.w2t(f"{Err}\n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}\n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}\n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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def read_scenario_time(self):
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try:
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results = self.c.read_holding_registers(41002, 2)
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result = BinaryPayloadDecoder.fromRegisters(results.registers, byteorder=Endian.BIG, wordorder=Endian.LITTLE)
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result = f"{result.decode_32bit_float():.3f}"
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return result
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except Exception as Err:
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self.w2t(f"{Err}\n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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def write_stop0(self, number):
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try:
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self.c.write_register(41004, number)
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except Exception as Err:
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self.w2t(f"{Err}\n无法通过IO操作stop0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 write_speed_max(self, speed):
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try:
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builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
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builder.add_32bit_float(float(speed))
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payload = builder.build()
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self.c.write_registers(41005, payload, skip_encode=True)
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except Exception as Err:
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self.w2t(f"{Err}\n无法写入速度值，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_brake_done(self):
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try:
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results = self.c.read_holding_registers(41007, 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}\n无法读取制动已执行信号，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 write_axis(self, axis):
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try:
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builder = BinaryPayloadBuilder(byteorder=Endian.BIG, wordorder=Endian.LITTLE)
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builder.add_32bit_int(int(axis))
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payload = builder.to_registers()
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self.c.write_registers(41008, payload)
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except Exception as Err:
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self.w2t(f"{Err}\n无法写入速度值，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_probe(self, probe):
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try:
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self.c.write_register(41010, probe)
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except Exception as Err:
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self.w2t(f"{Err}\n无法写入速度探测信号，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 write_pon(self, pon): # positive or negative
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try:
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self.c.write_register(41011, pon)
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except Exception as Err:
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self.w2t(f"{Err}\n无法写入正负方向信号，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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self.w2t = w2t
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self.c = None
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self.c_xs = None
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self.c_msg = []
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self.c_msg_xs = []
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self.flag = 0
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self.response = ''
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self.leftover = 0
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self.flag_xs = 0
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self.response_xs = ''
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self.t_bool = True
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self.tab_name = 'openapi'
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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.index = 0
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self.reset_index = 0
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self.sock_conn()
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self.t_heartbeat = Thread(target=self.heartbeat)
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self.t_heartbeat.daemon = True
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self.t_heartbeat.start()
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self.t_unpackage = Thread(target=self.unpackage, args=(self.c,))
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self.t_unpackage.daemon = True
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self.t_unpackage.start()
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self.t_unpackage_xs = Thread(target=self.unpackage_xs, args=(self.c_xs,))
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self.t_unpackage_xs.daemon = True
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self.t_unpackage_xs.start()
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def sock_conn(self):
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# while True:
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with open(heartbeat, "r", encoding='utf-8') as f_hb:
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c_state = f_hb.read().strip()
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if c_state == '0':
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try:
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self.c = socket(AF_INET, SOCK_STREAM)
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self.c.connect(('192.168.0.160', 5050))
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# self.c.connect(('192.168.84.129', 5050))
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self.c.setblocking(False)
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self.c_xs = socket(AF_INET, SOCK_STREAM)
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self.c_xs.connect(('192.168.0.160', 6666))
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# self.c_xs.connect(('192.168.84.129', 6666))
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self.c_xs.setblocking(False)
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self.w2t("Connection success", 0, 0, 'green', tab_name=self.tab_name)
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with open(heartbeat, "w", encoding='utf-8') as f_hb:
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f_hb.write('1')
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md = ModbusRequest(self.w2t)
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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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md.write_probe(False)
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md.write_axis(1)
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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(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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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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_reserved = int.from_bytes(data[index + 7:index + 8], byteorder='big')
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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(data)
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# print(f"index = {index}")
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# print(f"reserve = {_reserved}")
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# print(f"protocol = {_protocol}")
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# print("head check 数据有误，需要确认")
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self.w2t("Header Check: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
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else:
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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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self.broke = 100
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index += MAX_FRAME_SIZE
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return index, 0, 0
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def heartbeat(self):
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while self.t_bool:
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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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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='\n')
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with open(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"{_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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self.w2t(f"", 0, 7, 'red', tab_name=self.tab_name)
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sleep(1.5)
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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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def msg_storage(self, response, flag=0):
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messages = self.c_msg if flag == 0 else self.c_msg_xs
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if len(messages) < 20000:
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messages.insert(0, response)
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else:
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messages.insert(0, response)
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while len(messages) > 20000:
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messages.pop()
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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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_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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_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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self.w2t("in get_response: 解包数据有误，需要确认！", 0, 1, 'red', tab_name=self.tab_name)
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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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else:
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if self.reset_index == 1:
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self.index = 0
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while self.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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if self.broke == 100:
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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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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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if self.pkg_size <= len(data) - self.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[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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self.flag = 0
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self.response = ''
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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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elif self.pkg_size > len(data) - self.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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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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self.reset_index = 0
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if self.index + 2 < len(data):
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self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
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self.index += 2
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self.reset_index = 0
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else:
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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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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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elif self.index == len(data):
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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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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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elif self.index+_frame_size-6 > len(data):
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self.response = data[self.index:].decode()
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self.pkg_size -= (len(data) - self.index) # 详见解包原理数据.txt，self.pkg_size
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self.leftover = (_frame_size-6-(len(data)-self.index))
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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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# 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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# !!!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!!!
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if self.broke == 1:
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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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elif self.broke == 2:
|
||
self.leftover = int.from_bytes(self.half+data[:1], byteorder='big')
|
||
self.index = 1
|
||
self.broke = 0
|
||
# print(f"broke 2 leftover: {self.leftover}")
|
||
if self.broke == 3:
|
||
self.leftover = int.from_bytes(data[:2], byteorder='big')
|
||
# print(f"broke 3 leftover: {self.leftover}")
|
||
self.index = 2
|
||
self.broke = 0
|
||
while self.pkg_size > 0:
|
||
if self.index + self.leftover <= len(data):
|
||
# print(f"in pkg size > 0 loop before if data = {data}")
|
||
# print(f"in pkg size > 0 loop before if index = {self.index}")
|
||
# print(f"in pkg size > 0 loop before if pkg size = {self.pkg_size}")
|
||
# print(f"in pkg size > 0 loop before if leftover = {self.leftover}")
|
||
if self.leftover < 0 or self.leftover > 1024:
|
||
self.w2t("", 0, 111, 'red')
|
||
self.response += data[self.index:self.index + self.leftover].decode()
|
||
self.pkg_size -= self.leftover
|
||
if self.pkg_size == 0:
|
||
self.msg_storage(flag=0, response=self.response)
|
||
self.index += self.leftover
|
||
self.flag = 0
|
||
self.response = ''
|
||
self.leftover = 0
|
||
self.pkg_size = 0
|
||
self.reset_index = 0 if self.index < len(data) else 1
|
||
# print(f"in pkg size > 0 loop break if data = {data}")
|
||
# print(f"in pkg size > 0 loop break if index = {self.index}")
|
||
# print(f"in pkg size > 0 loop break if pkg size = {self.pkg_size}")
|
||
# print(f"in pkg size > 0 loop break if leftover = {self.leftover}")
|
||
break
|
||
|
||
self.index += self.leftover
|
||
if self.index + 2 < len(data):
|
||
self.leftover = int.from_bytes(data[self.index:self.index + 2], byteorder='big')
|
||
self.index += 2
|
||
self.reset_index = 0
|
||
else:
|
||
# self.leftover = 4096
|
||
if self.index + 2 == len(data):
|
||
self.broke = 1
|
||
self.half = data[-2:]
|
||
# print(f"flag = 1 encounter broke == 1 - half = {self.half}")
|
||
elif self.index + 1 == len(data):
|
||
self.broke = 2
|
||
self.half = data[-1:]
|
||
# print(f"flag = 1 encounter broke == 2 - half = {self.half}")
|
||
elif self.index == len(data):
|
||
# print('flag = 1 encounter broke == 3')
|
||
self.broke = 3
|
||
|
||
self.index += MAX_FRAME_SIZE
|
||
self.reset_index = 1
|
||
break # 因为 index + 2 的大小超过 MAX_FRAME_SIZE
|
||
# print(f"in pkg size > 0 loop after if data = {data}")
|
||
# print(f"in pkg size > 0 loop after if index = {self.index}")
|
||
# print(f"in pkg size > 0 loop after if pkg size = {self.pkg_size}")
|
||
# print(f"in pkg size > 0 loop after if leftover = {self.leftover}")
|
||
if self.leftover < 0 or self.leftover > 1024:
|
||
self.w2t("", 0, 111, 'red')
|
||
else:
|
||
# print(f"in pkg size > 0 loop before else data = {data}")
|
||
# print(f"in pkg size > 0 loop before else index = {self.index}")
|
||
# print(f"in pkg size > 0 loop before else pkg size = {self.pkg_size}")
|
||
# print(f"in pkg size > 0 loop before else leftover = {self.leftover}")
|
||
if self.leftover < 0 or self.leftover > 1024:
|
||
self.w2t("", 0, 111, 'red')
|
||
self.response += data[self.index:].decode()
|
||
self.leftover -= (len(data) - self.index)
|
||
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}")
|
||
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 = 0 if (len(data) > self.index > 0) else 1
|
||
|
||
def get_response_xs(self, data):
|
||
if self.flag_xs == 0:
|
||
if data[-1].decode() == '\r':
|
||
_responses = data.decode().split('\r')
|
||
for _response in _responses:
|
||
self.msg_storage(flag=1, response=_response)
|
||
|
||
else:
|
||
_responses = data.decode().split('\r')
|
||
for _response in _responses[:-1]:
|
||
if not _response:
|
||
break
|
||
self.msg_storage(flag=1, response=_response)
|
||
|
||
self.response_xs = _responses[-1]
|
||
self.flag_xs = 1
|
||
else:
|
||
if data[-1].decode() == '\r':
|
||
_responses = (self.response_xs.encode() + data).decode().split('\r')
|
||
for _response in _responses:
|
||
self.msg_storage(flag=1, response=_response)
|
||
|
||
self.response_xs = ''
|
||
self.flag_xs = 0
|
||
else:
|
||
_responses = (self.response_xs.encode() + data).decode().split('\r')
|
||
for _response in _responses[:-1]:
|
||
if not _response:
|
||
break
|
||
self.msg_storage(flag=1, response=_response)
|
||
|
||
self.response_xs = _responses[-1]
|
||
self.flag_xs = 1
|
||
|
||
def get_from_id(self, msg_id, flag=0):
|
||
for i in range(3):
|
||
messages = self.c_msg if flag == 0 else self.c_msg_xs
|
||
for msg in messages:
|
||
if msg_id is None:
|
||
return None
|
||
elif msg_id in msg:
|
||
return msg
|
||
sleep(1)
|
||
else:
|
||
return None
|
||
|
||
def package(self, cmd):
|
||
_frame_head = (len(cmd) + 6).to_bytes(length=2, byteorder='big')
|
||
_pkg_head = len(cmd).to_bytes(length=4, byteorder='big')
|
||
_protocol = int(2).to_bytes(length=1, byteorder='big')
|
||
_reserved = int(0).to_bytes(length=1, byteorder='big')
|
||
return _frame_head + _pkg_head + _protocol + _reserved + cmd.encode()
|
||
|
||
def package_xs(self, cmd):
|
||
return f"{dumps(cmd, separators=(',', ':'))}\r".encode()
|
||
|
||
def unpackage(self, sock):
|
||
def to_read(conn, mask):
|
||
data = conn.recv(MAX_FRAME_SIZE)
|
||
if data:
|
||
# print(data)
|
||
self.get_response(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 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()
|
||
_id = f"{command}-{_now}"
|
||
return _id
|
||
|
||
def execution(self, command, flg=0, **kwargs):
|
||
if flg == 0: # for old protocols
|
||
req = None
|
||
try:
|
||
with open(f'{current_path}/../assets/templates/{command}.json', encoding='utf-8',
|
||
mode='r') as f_json:
|
||
req = load(f_json)
|
||
except:
|
||
self.w2t(f"暂不支持 {command} 功能，或确认该功能存在...", 0, 1, 'red', tab_name=self.tab_name)
|
||
|
||
match command:
|
||
case 'state.set_tp_mode':
|
||
req['data']['tp_mode'] = kwargs['tp_mode']
|
||
case 'overview.set_autoload':
|
||
req['data']['autoload_prj_path'] = kwargs['autoload_prj_path']
|
||
case 'overview.reload':
|
||
req['data']['prj_path'] = kwargs['prj_path']
|
||
req['data']['tasks'] = kwargs['tasks']
|
||
case 'rl_task.pp_to_main' | 'rl_task.run' | 'rl_task.stop':
|
||
req['data']['tasks'] = kwargs['tasks']
|
||
case 'diagnosis.set_params':
|
||
req['data']['display_pdo_params'] = kwargs['display_pdo_params']
|
||
case 'diagnosis.open':
|
||
req['data']['open'] = kwargs['open']
|
||
req['data']['display_open'] = kwargs['display_open']
|
||
case 'register.set_value':
|
||
req['data']['name'] = kwargs['name']
|
||
req['data']['type'] = kwargs['type']
|
||
req['data']['bias'] = kwargs['bias']
|
||
req['data']['value'] = kwargs['value']
|
||
case _:
|
||
pass
|
||
|
||
req['id'] = self.gen_id(command)
|
||
# print(f"req = {req}")
|
||
cmd = dumps(req, separators=(',', ':'))
|
||
try:
|
||
self.c.send(self.package(cmd))
|
||
sleep(0.5)
|
||
except Exception as Err:
|
||
# self.w2t(f"{cmd}\n请求发送失败...{Err}", 0, 0, 'red', tab_name=self.tab_name)
|
||
self.w2t(f"", 0, 0, 'red', tab_name=self.tab_name)
|
||
|
||
return req['id']
|
||
|
||
else: # for xService
|
||
pass
|