def __init__(self):
super(proto_login, self).__init__
self.phead = mthead.proto_head(_type=PKTTYPE_LOGIN_ROBOT)
self.cct = proto_uint32(0x100 << 6)
self.access = proto_uint32(0)
self.ori = proto_binary()
self.enc = proto_binary()
def on_recvdata(self, data, cb):
head = mthead.proto_head()
head.build(data, 0)
self.__timestamp = int(round(time.time() * 1000))
if head.type.value is agvinfoproto.kAgvInfoProto_heart_beat:
self.__on_keepalive(head)
if head.type.value is agvinfoproto.kAgvInfoProto_get_agvinfo:
self.__on_getagvinfo(head)
if head.type.value is agvinfoproto.kAgvInfoProto_set_agvinfo:
self.__on_setagvinfo(data)
def notify_all(self):
tcp_list = []
# Reduce lock occupancy time
self.__map_mutex.acquire()
for link in self.__map_tcp_session:
if None != self.__map_tcp_session[link]:
tcp_list.append(self.__map_tcp_session[link])
self.__map_mutex.release()
ack = mthead.proto_head(_id=0,
_type=agvinfoproto.kAgvInfoProto_update_notify,
_size=24)
for tcp_object in tcp_list:
ack.id(getPktId())
tcp_object.send(ack.serialize(), ack.length())
def __init__(self):
super(proto_discover_mt, self).__init__()
self.phead = mthead.proto_head(_type=PKTTYPE_KEEPALIVE_UDP)
self.address = str('\x00' * 16)
self.port = proto_uint16(0)
def __init__(self):
super(proto_pre_login, self).__init__()
self.phead = mthead.proto_head()
self.key = proto_binary()
def __init__(self):
super(proto_common_vct, self).__init__()
self.phead = mthead.proto_head(_type=PKTTYPE_COMMON_READ_BYID_ACK)
self.items = proto_vector(TYPE=proto_common)
def __keepalive(self) -> int:
heartbeat = mthead.proto_head(
_id=getPktId(),
_type=agvinfoproto.kAgvInfoProto_heart_beat,
_size=24)
return self.send(heartbeat.serialize(), heartbeat.length())
def __on_keepalive(self, _head):
ack = mthead.proto_head(
_id=_head.id,
_type=agvinfoproto.kAgvInfoProto_heart_beat_ack,
_size=24)
self.send(ack.serialize(), ack.length())
def __init__(self):
super(proto_common_write, self).__init__()
self.phead = mthead.proto_head(_type=PKTTYPE_COMMON_WRITE_BYID)
self.items = proto_vector(TYPE=proto_common_write_item)
def __init__(self):
super(proto_req_agvinfo,self).__init__()
self.head = mthead.proto_head()
self.method = serialize.proto_uint8(0)
self.info = serialize.proto_vector(proto_agvinfo)
