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xCore通信暂时无问题了

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gitea
2025-01-09 21:50:21 +08:00
parent 73fa811e57
commit 6a47310dec
3 changed files with 126 additions and 117 deletions
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90
code/aio.py
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@@ -76,8 +76,8 @@ class App:
self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D") self.om_sub_at = ctk.CTkOptionMenu(self.tabview_top.tab("自动测试"), width=160, dynamic_resizing=False, values=["tool33", "tool66", "tool100", "inertia"], font=self.f_common, text_color="#3C3C3C", button_color="#7B6B5B", fg_color="#8D8D8D")
self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common) self.label_ip_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), anchor="e", text="IP", font=self.f_common)
self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181") self.entry_ip_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=160, textvariable=self.entry_ip_atv, font=self.f_entry, text_color="#818181")
self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0, command=lambda: self.__thread_it(self.__conn_xcore)) self.btn_conn = ctk.CTkButton(self.tabview_top.tab("自动测试"), text="连接", width=60, font=self.f_segbtn, fg_color="#979DA2", corner_radius=0)
self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate") # self.progressbar_at = ctk.CTkProgressBar(self.tabview_top.tab("自动测试"), width=160, mode="indeterminate")
self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common) self.label_path_at = ctk.CTkLabel(self.tabview_top.tab("自动测试"), width=50, anchor="e", text="Path", font=self.f_common)
self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181") self.entry_path_at = ctk.CTkEntry(self.tabview_top.tab("自动测试"), width=80, state="disabled", textvariable=self.entry_path_atv, font=self.f_entry, text_color="#818181")
self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9") self.frame_top = ctk.CTkFrame(self.tabview_top.tab("自动测试"), width=120, height=10, fg_color="#E9E9E9")
@@ -132,7 +132,7 @@ class App:
# ======================================================================== # ========================================================================
self.__draw() self.__draw()
def detect_network(self): def __detect_network(self):
while True: while True:
try: try:
if clibs.c_hr.status: if clibs.c_hr.status:
@@ -141,32 +141,7 @@ class App:
self.btn_conn.configure(fg_color="#979DA2") self.btn_conn.configure(fg_color="#979DA2")
except Exception as Err: except Exception as Err:
self.btn_conn.configure(fg_color="#979DA2") self.btn_conn.configure(fg_color="#979DA2")
time.sleep(2) time.sleep(3)
def __conn_xcore(self):
if self.btn_conn.cget("fg_color") == "#979DA2":
try:
if clibs.c_hr.status:
self.btn_conn.configure(fg_color="#2E8B57")
return
except Exception as Err:
...
clibs.ip_addr = self.entry_ip_atv.get().strip()
ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
if not ip_pattern.fullmatch(clibs.ip_addr):
messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
return
# clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
else:
try:
# clibs.c_md.close()
clibs.c_hr.close()
except Exception as Err:
...
self.btn_conn.configure(fg_color="#979DA2")
def __robot_info(self): def __robot_info(self):
... ...
@@ -283,7 +258,6 @@ class App:
exec_function() exec_function()
@clibs.db_lock
def __reset_state(self): def __reset_state(self):
def reset_methods(): def reset_methods():
self.btn_load.configure(fg_color="#979DA2") self.btn_load.configure(fg_color="#979DA2")
@@ -296,8 +270,13 @@ class App:
res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING) res = messagebox.askyesno(title="状态重置", message="这将清空本次所有的输出以及日志记录，且不可恢复，请确认！", default=messagebox.NO, icon=messagebox.WARNING)
if res: if res:
self.text_output.delete("1.0", ctk.END) self.text_output.delete("1.0", ctk.END)
try:
clibs.lock.acquire(True)
clibs.cursor.execute("delete from logs") clibs.cursor.execute("delete from logs")
clibs.cursor.execute("delete from sqlite_sequence") # 主键归零 clibs.cursor.execute("delete from sqlite_sequence") # 主键归零
finally:
clibs.lock.release()
self.treeview_logs.delete(*self.treeview_logs.get_children()) self.treeview_logs.delete(*self.treeview_logs.get_children())
self.label_pages_logs.set("-.-.-.-.-.-") self.label_pages_logs.set("-.-.-.-.-.-")
reset_methods() reset_methods()
@@ -323,7 +302,7 @@ class App:
self.label_pages_logs.set(f"{pages_all} / {pages_all}") self.label_pages_logs.set(f"{pages_all} / {pages_all}")
self.treeview_logs.delete(*self.treeview_logs.get_children()) self.treeview_logs.delete(*self.treeview_logs.get_children())
remainder = len_records % 100 remainder = len_records % 100 if len_records % 100 != 0 else 100
end = len_records end = len_records
start = len_records - remainder + 1 if len_records - remainder > 0 else 0 start = len_records - remainder + 1 if len_records - remainder > 0 else 0
@@ -382,6 +361,7 @@ class App:
@clibs.db_lock @clibs.db_lock
def get_next_page(): def get_next_page():
if self.btn_find.cget("fg_color") == "#979DA2": if self.btn_find.cget("fg_color") == "#979DA2":
# noinspection PyBroadException
try: try:
clibs.cursor.execute("select id from logs") clibs.cursor.execute("select id from logs")
len_records = len(clibs.cursor.fetchall()) len_records = len(clibs.cursor.fetchall())
@@ -401,8 +381,8 @@ class App:
pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1 pages_all = len_records // 100 if len_records % 100 == 0 else len_records // 100 + 1
current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1 current_page = int(start) // 100 if int(start) % 100 == 0 else int(start) // 100 + 1
self.label_pages_logs.set(f"{current_page} / {pages_all}") self.label_pages_logs.set(f"{current_page} / {pages_all}")
except Exception as ERR: except Exception as Err:
... print(f"get_next_page-if: {Err}")
else: else:
len_records = len(clibs.f_records) len_records = len(clibs.f_records)
pages_all = int(self.label_pages_logs.get().split("/")[1].strip()) pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
@@ -426,8 +406,10 @@ class App:
current_page = int(self.label_pages_logs.get().split("/")[0].strip()) current_page = int(self.label_pages_logs.get().split("/")[0].strip())
pages_all = int(self.label_pages_logs.get().split("/")[1].strip()) pages_all = int(self.label_pages_logs.get().split("/")[1].strip())
if current_page == pages_all: if current_page == pages_all:
if self.btn_find.cget("fg_color") == "#979DA2":
self.__get_realtime_log() self.__get_realtime_log()
return return
get_next_page() get_next_page()
def __load_log_db(self): def __load_log_db(self):
@@ -614,6 +596,7 @@ class App:
widget_toplevel.destroy() widget_toplevel.destroy()
def double_click(event): def double_click(event):
# noinspection PyBroadException
try: try:
e = event.widget e = event.widget
iid = e.identify("item", event.x, event.y) iid = e.identify("item", event.x, event.y)
@@ -640,8 +623,8 @@ class App:
label_info.grid(row=0, column=0, padx=10, pady=10, sticky="we") label_info.grid(row=0, column=0, padx=10, pady=10, sticky="we")
text_content.grid(row=1, column=0, padx=10, pady=(0, 10), sticky="news") text_content.grid(row=1, column=0, padx=10, pady=(0, 10), sticky="news")
self.root.attributes("-disabled", 1) self.root.attributes("-disabled", 1)
except Exception as ERR: except Exception:
... return
@clibs.db_lock @clibs.db_lock
def jump2page(): def jump2page():
@@ -867,6 +850,32 @@ class App:
def show_popupmenu_ip(event): def show_popupmenu_ip(event):
self.popupmenu_ip.post(event.x_root, event.y_root) self.popupmenu_ip.post(event.x_root, event.y_root)
def conn_change(event):
def conn_or_disconn():
if self.btn_conn.cget("fg_color") == "#979DA2":
self.btn_conn.configure(state="disabled")
clibs.ip_addr = self.entry_ip_atv.get().strip()
ip_pattern = re.compile(r'(([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])\.){3}([1-9]?\d|1\d\d|2[0-4]\d|25[0-5])')
if not ip_pattern.fullmatch(clibs.ip_addr):
messagebox.showerror(title="非法地址", message=f"{clibs.ip_addr} 不是一个有效的 IP 地址")
clibs.insert_logdb("ERROR", "aio", f"connection: {clibs.ip_addr} 不是一个有效的 IP 地址")
return
try:
# clibs.c_md = openapi.ModbusRequest(clibs.ip_addr, clibs.modbus_port)
clibs.c_hr = openapi.HmiRequest(clibs.ip_addr, clibs.socket_port, clibs.xService_port)
self.btn_conn.configure(state="normal", fg_color="#2E8B57")
except Exception as Err:
self.btn_conn.configure(state="normal", fg_color="#979DA2")
elif self.btn_conn.cget("fg_color") == "#2E8B57":
try:
# clibs.c_md.close()
clibs.c_hr.close()
finally:
self.btn_conn.configure(fg_color="#979DA2")
t = threading.Thread(target=conn_or_disconn)
t.daemon = True
t.start()
# ======================================================================== # ========================================================================
self.root.rowconfigure(0, weight=1) self.root.rowconfigure(0, weight=1)
self.root.rowconfigure(1, weight=99) self.root.rowconfigure(1, weight=99)
@@ -914,7 +923,7 @@ class App:
self.label_ip_at.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="e") self.label_ip_at.grid(row=0, column=1, padx=(0, 10), pady=10, sticky="e")
self.entry_ip_at.grid(row=0, column=2, padx=(0, 10), pady=10) self.entry_ip_at.grid(row=0, column=2, padx=(0, 10), pady=10)
self.btn_conn.grid(row=0, column=3, padx=(0, 10), pady=10) self.btn_conn.grid(row=0, column=3, padx=(0, 10), pady=10)
self.progressbar_at.grid(row=0, column=4, padx=(0, 10), pady=10, sticky="e") # self.progressbar_at.grid(row=0, column=4, padx=(0, 10), pady=10, sticky="e")
self.label_path_at.grid(row=1, column=1, padx=(0, 10), pady=(0, 10), sticky="e") self.label_path_at.grid(row=1, column=1, padx=(0, 10), pady=(0, 10), sticky="e")
self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we") self.entry_path_at.grid(row=1, column=2, columnspan=3, padx=(0, 10), pady=(0, 10), sticky="we")
self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we") self.frame_top.grid(row=2, column=0, columnspan=5, padx=0, pady=0, sticky="we")
@@ -923,10 +932,11 @@ class App:
self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0) self.btn_trig_estop.grid(row=0, column=2, padx=(0, 10), pady=0)
self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0) self.btn_reset_estop.grid(row=0, column=3, padx=(0, 10), pady=0)
self.progressbar_at.start() # self.progressbar_at.start()
self.progressbar_at.configure(progress_color="red", fg_color="gray") # self.progressbar_at.configure(progress_color="red", fg_color="gray")
self.entry_path_at.bind("<Button-1>", select_path) self.entry_path_at.bind("<Button-1>", select_path)
self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+") self.entry_ip_at.bind("<Button-3>", show_popupmenu_ip, add="+")
self.btn_conn.bind("<Button-1>", conn_change)
# ======================================================================== # ========================================================================
self.tabview_bottom.tab("输出").grid_rowconfigure(0, weight=1) self.tabview_bottom.tab("输出").grid_rowconfigure(0, weight=1)
self.tabview_bottom.tab("输出").grid_columnconfigure(0, weight=1) self.tabview_bottom.tab("输出").grid_columnconfigure(0, weight=1)
@@ -972,11 +982,11 @@ class App:
self.om_sensor_dp.configure(state="disabled") self.om_sensor_dp.configure(state="disabled")
# ======================================================================== # ========================================================================
clibs.w2t = self.__w2t clibs.w2t = self.__w2t
clibs.insert_logdb("INFO", "aio", "AIO starts running......") # clibs.insert_logdb("INFO", "aio", "AIO starts running......")
def show(self): def show(self):
if self.server_vers: if self.server_vers:
t = threading.Thread(target=self.detect_network) t = threading.Thread(target=self.__detect_network)
t.daemon = True t.daemon = True
t.start() t.start()
self.root.mainloop() self.root.mainloop()

45
code/common/clibs.py
View File

@@ -2,7 +2,7 @@ import os
import os.path import os.path
import sqlite3 import sqlite3
import threading import threading
import json
def traversal_files(_path, _w2t): 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 # 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
@@ -21,17 +21,15 @@ def traversal_files(_path, _w2t):
return dirs, files return dirs, files
def init_logdb(conn, cursor): def init_logdb(_conn, _cursor):
conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096) _conn = sqlite3.connect(":memory:", isolation_level=None, check_same_thread=False, cached_statements=4096)
# connect = sqlite3.connect("log.db", isolation_level=None, check_same_thread=False, cached_statements=256) _cursor = _conn.cursor()
# time text default (datetime('now', 'localtime')), _cursor.execute("PRAGMA journal_mode=wal")
cursor = conn.cursor() _cursor.execute("PRAGMA wal_checkpoint=TRUNCATE")
cursor.execute("PRAGMA journal_mode=wal") _cursor.execute("PRAGMA synchronous=normal")
cursor.execute("PRAGMA wal_checkpoint=TRUNCATE") _cursor.execute("PRAGMA temp_store=memory")
cursor.execute("PRAGMA synchronous=normal") _cursor.execute("PRAGMA mmap_size=30000000000")
cursor.execute("PRAGMA temp_store=memory") _cursor.execute(
cursor.execute("PRAGMA mmap_size=30000000000")
cursor.execute(
""" """
create table if not exists logs( create table if not exists logs(
id integer primary key autoincrement, id integer primary key autoincrement,
@@ -42,7 +40,7 @@ def init_logdb(conn, cursor):
) )
""" """
) )
return conn, cursor return _conn, _cursor
def db_lock(func): def db_lock(func):
@@ -53,6 +51,7 @@ def db_lock(func):
finally: finally:
lock.release() lock.release()
return ret return ret
return wrapper return wrapper
@@ -60,11 +59,12 @@ def db_lock(func):
def insert_logdb(_level, _module, _content): def insert_logdb(_level, _module, _content):
if db_state == "readwrite": if db_state == "readwrite":
global conn, cursor, lock global conn, cursor, lock
if "move.monitor" in _content:
return
data = [_level, _module, repr(_content)] data = [_level, _module, repr(_content)]
cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data) cursor.execute("insert into logs (level, module, content) values (?, ?, ?)", data)
def insert_logdb_multi(data): def insert_logdb_multi(data):
if db_state == "readwrite": if db_state == "readwrite":
global conn, cursor, lock global conn, cursor, lock
@@ -89,9 +89,10 @@ class GetThreadResult(threading.Thread):
def get_result(self): def get_result(self):
threading.Thread.join(self) # 等待线程执行完毕 threading.Thread.join(self) # 等待线程执行完毕
# noinspection PyBroadException
try: try:
return self.result return self.result
except Exception as Err: except Exception:
return None return None
@@ -131,17 +132,13 @@ lock = threading.Lock()
conn, cursor = init_logdb(conn, cursor) conn, cursor = init_logdb(conn, cursor)
# ============== ↓↓↓DEBUG CODE↓↓↓ ==============
# for i in range(100): # for i in range(100):
# insert_logdb("DEBUG", "clibs", 'this is a DEBUG log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("INFO", "clibs", 'this is a INFO log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("WARNING", "clibs", 'this is a WARNING log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
# insert_logdb("ERROR", "clibs", 'this is a ERROR log -0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n')
#
# insert_logdb("DEBUG", "clibs", 'running') # insert_logdb("DEBUG", "clibs", 'running')
# insert_logdb("INFO", "clibs", 'running') # insert_logdb("INFO", "clibs", 'running')
# insert_logdb("WARNING", "clibs", 'running') # insert_logdb("WARNING", "clibs", 'running')
# insert_logdb("ERROR", "clibs", 'running') # insert_logdb("ERROR", "clibs", 'running')
with open(f"{log_path}/response.txt", mode="w", encoding="utf-8") as f_res: # with open(f"{log_path}/response.txt", mode="w", encoding="utf-8") as f_res:
f_res.write("") # f_res.write("")
with open(f"{log_path}/logs.txt", mode="w", encoding="utf-8") as f_res: # with open(f"{log_path}/logs.txt", mode="w", encoding="utf-8") as f_res:
f_res.write("") # f_res.write("")

84
code/common/openapi.py
View File

@@ -343,9 +343,10 @@ class HmiRequest(object):
try: try:
self.__close_hmi = True self.__close_hmi = True
self.__is_connected = False self.__is_connected = False
time.sleep(clibs.interval) time.sleep(clibs.interval*2)
self.__c.close() self.__c.close()
self.__c_xs.close() self.__c_xs.close()
time.sleep(clibs.interval*2)
except: except:
... ...
@@ -388,8 +389,8 @@ class HmiRequest(object):
data = conn.recv(clibs.MAX_FRAME_SIZE) data = conn.recv(clibs.MAX_FRAME_SIZE)
if data: if data:
# print(f"data = {data}") # print(f"data = {data}")
with open(f"{clibs.log_path}/logs.txt", mode="a", encoding="utf-8") as f_logs: # with open(f"{clibs.log_path}/logs.txt", mode="a", encoding="utf-8") as f_logs:
f_logs.write(str(data) + "\n") # f_logs.write(str(data) + "\n")
self.__get_response(data) self.__get_response(data)
else: else:
sel.unregister(conn) sel.unregister(conn)
@@ -407,16 +408,11 @@ class HmiRequest(object):
clibs.insert_logdb("ERROR", "openapi", f"hr-unpackage: 报错信息 {Err}") clibs.insert_logdb("ERROR", "openapi", f"hr-unpackage: 报错信息 {Err}")
def __get_headers(self, index, data): def __get_headers(self, index, data):
print(f"index = {index}")
if index + 8 < len(data): if index + 8 < len(data):
frm_value = int.from_bytes(data[index:index + 2], byteorder="big") frm_value = int.from_bytes(data[index:index + 2], byteorder="big")
pkg_value = int.from_bytes(data[index + 2:index + 6], byteorder="big") pkg_value = int.from_bytes(data[index + 2:index + 6], byteorder="big")
protocol = int.from_bytes(data[index + 6:index + 7], byteorder="big") protocol = int.from_bytes(data[index + 6:index + 7], byteorder="big")
reserved = int.from_bytes(data[index + 7:index + 8], byteorder="big") reserved = int.from_bytes(data[index + 7:index + 8], byteorder="big")
print(f"reserved = {reserved}")
print(f"protocol = {protocol}")
print(f"frm_value = {frm_value}")
print(f"pkg_value = {pkg_value}")
if reserved == 0 and protocol == 2: if reserved == 0 and protocol == 2:
return index + 8, frm_value, pkg_value return index + 8, frm_value, pkg_value
else: else:
@@ -426,37 +422,32 @@ class HmiRequest(object):
else: else:
self.__half_pkg = data[index:] self.__half_pkg = data[index:]
self.__half_pkg_flag = True self.__half_pkg_flag = True
index += clibs.MAX_FRAME_SIZE return -1, 0, 0
return index, 0, 0
def __get_response(self, data): def __get_response(self, data):
frm_value, pkg_value, self.__index = 0, 0, 0
while self.__index < len(data):
if self.__is_first_frame:
if self.__half_pkg_flag: if self.__half_pkg_flag:
print(f"self.__half_pkg = {self.__half_pkg}")
len_one = len(self.__half_pkg) len_one = len(self.__half_pkg)
len_another = 8 - len_one len_another = 8 - len_one
headers = self.__half_pkg + data[:len_another] headers = self.__half_pkg + data[:len_another]
self.__index = len_another self.__index = len_another
frm_value = int.from_bytes(headers[0:2], byteorder="big") frm_value = int.from_bytes(headers[0:2], byteorder="big")
pkg_value = int.from_bytes(headers[2:6], byteorder="big") pkg_value = int.from_bytes(headers[2:6], byteorder="big")
print(f"headers = {headers}")
while self.__index < len(data):
print(f"top valid data = {self.__valid_data_length}")
if self.__valid_data_length < 0:
print(f"invalid data: {data}")
raise Exception()
if self.__is_first_frame:
if self.__half_pkg_flag:
self.__half_pkg_flag = False self.__half_pkg_flag = False
else: else:
self.__index, frm_value, pkg_value = self.__get_headers(self.__index, data) self.__index, frm_value, pkg_value = self.__get_headers(self.__index, data)
if self.__half_pkg_flag:
break
if frm_value - pkg_value == 6: if frm_value - pkg_value == 6:
if len(data[self.__index:]) >= pkg_value: if len(data[self.__index:]) >= pkg_value:
self.__response = data[self.__index:self.__index + pkg_value] self.__response = data[self.__index:self.__index + pkg_value]
self.__index += pkg_value self.__index += pkg_value
with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res: # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
f_res.write(f"{json.loads(self.__response.decode())}" + "\n") # f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
clibs.insert_logdb("DEBUG", "openapi", self.__response.decode()) clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
self.__response = b"" self.__response = b""
self.__leftovers = 0 self.__leftovers = 0
@@ -501,11 +492,13 @@ class HmiRequest(object):
self.__valid_data_length -= self.__leftovers self.__valid_data_length -= self.__leftovers
self.__leftovers = 0 self.__leftovers = 0
if self.__valid_data_length == 0: if self.__valid_data_length == 0:
with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res: # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
f_res.write(f"{json.loads(self.__response.decode())}" + "\n") # f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
clibs.insert_logdb("DEBUG", "openapi", self.__response.decode()) clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
self.__response = b"" self.__response = b""
self.__is_first_frame = True self.__is_first_frame = True
continue # 此时应该重新 get_headers
if len(data[self.__index:]) == 2: if len(data[self.__index:]) == 2:
self.__half_frm = data[self.__index:] self.__half_frm = data[self.__index:]
self.__index += clibs.MAX_FRAME_SIZE self.__index += clibs.MAX_FRAME_SIZE
@@ -524,8 +517,8 @@ class HmiRequest(object):
self.__response += data[:self.__leftovers] self.__response += data[:self.__leftovers]
self.__index = self.__leftovers self.__index = self.__leftovers
self.__leftovers = 0 self.__leftovers = 0
with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res: # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
f_res.write(f"{json.loads(self.__response.decode())}" + "\n") # f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
clibs.insert_logdb("DEBUG", "openapi", self.__response.decode()) clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
self.__response = b"" self.__response = b""
self.__is_first_frame = True self.__is_first_frame = True
@@ -537,9 +530,17 @@ class HmiRequest(object):
# 4. len(data[self.__index:]) = 0 # 4. len(data[self.__index:]) = 0
if self.__half_frm_flag != -1: if self.__half_frm_flag != -1:
if self.__half_frm_flag == 2: if self.__half_frm_flag == 2:
self.__index = int.from_bytes(self.__half_frm) frm_value = int.from_bytes(self.__half_frm)
self.__response += data[:self.__index] if len(data) >= frm_value:
self.__valid_data_length -= len(data[:self.__index]) self.__response += data[:frm_value]
self.__leftovers = 0
self.__valid_data_length -= len(data[:frm_value])
self.__index = frm_value
elif len(data) < frm_value:
self.__response += data
self.__leftovers = frm_value - len(data)
self.__valid_data_length -= len(data)
self.__index += clibs.MAX_FRAME_SIZE
self.__half_frm_flag = -1 self.__half_frm_flag = -1
elif self.__half_frm_flag == 1: elif self.__half_frm_flag == 1:
frm_value = int.from_bytes(self.__half_frm + data[0:1]) frm_value = int.from_bytes(self.__half_frm + data[0:1])
@@ -569,11 +570,13 @@ class HmiRequest(object):
self.__half_frm_flag = -1 self.__half_frm_flag = -1
if self.__valid_data_length == 0: if self.__valid_data_length == 0:
with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res: # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
f_res.write(f"{json.loads(self.__response.decode())}" + "\n") # f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
clibs.insert_logdb("DEBUG", "openapi", self.__response.decode()) clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
self.__response = b"" self.__response = b""
self.__is_first_frame = True self.__is_first_frame = True
continue
if len(data[self.__index:]) == 2: if len(data[self.__index:]) == 2:
self.__half_frm = data[self.__index:] self.__half_frm = data[self.__index:]
self.__index += clibs.MAX_FRAME_SIZE self.__index += clibs.MAX_FRAME_SIZE
@@ -597,11 +600,13 @@ class HmiRequest(object):
self.__index += frm_value self.__index += frm_value
self.__valid_data_length -= frm_value self.__valid_data_length -= frm_value
if self.__valid_data_length == 0: if self.__valid_data_length == 0:
with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res: # with open(f"{clibs.log_path}/response.txt", mode="a", encoding="utf-8") as f_res:
f_res.write(f"{json.loads(self.__response.decode())}" + "\n") # f_res.write(f"{json.loads(self.__response.decode())}" + "\n")
clibs.insert_logdb("DEBUG", "openapi", self.__response.decode()) clibs.insert_logdb("DEBUG", "openapi", self.__response.decode())
self.__response = b"" self.__response = b""
self.__is_first_frame = True self.__is_first_frame = True
continue
if len(data[self.__index:]) == 2: if len(data[self.__index:]) == 2:
self.__index += clibs.MAX_FRAME_SIZE self.__index += clibs.MAX_FRAME_SIZE
self.__half_frm = data[self.__index:] self.__half_frm = data[self.__index:]
@@ -621,9 +626,8 @@ class HmiRequest(object):
self.__valid_data_length -= len(data[self.__index:]) self.__valid_data_length -= len(data[self.__index:])
self.__index += clibs.MAX_FRAME_SIZE self.__index += clibs.MAX_FRAME_SIZE
else: else:
self.__index += 1 clibs.insert_logdb("ERROR", "openapi", "hr-get_response: Will never be here")
else: raise Exception("WillNeverBeHere")
self.__index = 0
@staticmethod @staticmethod
def __package_xs(cmd): def __package_xs(cmd):
@@ -667,18 +671,16 @@ class HmiRequest(object):
if state is None: if state is None:
self.close() self.close()
clibs.w2t(f"请求 {msg_id} 发送失败......", "red", "ReqSendFailed") clibs.w2t(f"请求 {msg_id} 发送失败......", "red", "ReqSendFailed")
for _ in range(60): for _ in range(3):
time.sleep(clibs.interval * 2)
try: try:
clibs.lock.acquire(True) clibs.lock.acquire(True)
clibs.cursor.execute(f"select * from logs where content like '{f_text}'") clibs.cursor.execute(f"select content from logs where content like '{f_text}'")
res = len(clibs.cursor.fetchall()) res = len(clibs.cursor.fetchall())
finally: finally:
clibs.lock.release() clibs.lock.release()
if res >= 2: if res >= 2:
break break
else:
time.sleep(clibs.interval*2)
continue
else: else:
clibs.insert_logdb("ERROR", "openapi", f"hr: 无法找到请求 {msg_id} 的响应") clibs.insert_logdb("ERROR", "openapi", f"hr: 无法找到请求 {msg_id} 的响应")
self.close() self.close()