Update

testfield/legacy/server/dummy_all/dummy_api.py

@@ -0,0 +1,33 @@
+class Motor(object):
+    angle = None
+    def __init__(self, id):
+        self.angle = 0 # mark
+        self.id = id
+    def get(self):
+        return self.angle
+    def turn(self, add_angle):
+        self.angle += add_angle
+        return self.angle
+class Engine(object):
+    speed = None
+    def __init__(self, id):
+        self.speed = 0 # Mark
+        self.id = id
+    def get(self):
+        return self.speed
+    def tune(self, new_speed):
+        self.speed = new_speed
+        return self.speed
+
+class Battery:
+    def get():
+        power_left = 0.9
+        return power_left
+    def stat():
+        status = "Unplugged"
+        return status
+    
+class Network:
+    def stat():
+        delay = 0.2 # ms
+        return delay # or -1 (unreachable)

testfield/legacy/server/dummy_all/dummy_lib.py

@@ -0,0 +1,201 @@
+import dummy_api as ctrl
+import time
+import os
+import threading
+class Surface(object):
+    motor = None
+    name = None
+    curr_angle = None
+    id = None
+    type_ = "surface"
+    def __init__(self, name, id):
+        self.motor = ctrl.Motor(id)
+        self.curr_angle = self.motor.get()
+        self.name = name
+        self.id = id
+        print("初始化操纵面 {}, 硬件代号绑定为 {}".format(name, id))
+    def add_angle(self, angle):
+        self.motor.turn(angle)
+        self.curr_angle = self.motor.get();
+        #print("将 {} 的角度加成 {} 度".format(self.name, angle))
+    def set_angle(self, angle):
+        angle_turn = angle - self.motor.get()
+        self.motor.turn(angle_turn)
+        self.curr_angle = self.motor.get()
+        #print("将 {} 的角度设置为 {} 度".format(self.name, angle))
+    def get_angle(self):
+        self.curr_angle = self.motor.get()
+        #print("{} 当前角度为 {} 度".format(self.name, self.curr_angle))
+        return self.curr_angle
+    def status(self):
+        return {"type":"Surface", "name":self.name, "angle":self.curr_angle}
+    def selfchk(self):
+        print("开始自检操纵面 {}".format(self.name))
+        self.add_angle(30)
+        self.add_angle(-60)
+        self.set_angle(0)
+
+class Engine(object):
+    engine = None
+    curr_speed = None
+    id = None
+    name = None
+    type_ = "engine"
+    def __init__(self, name, id):
+        self.id = id
+        self.name = name
+        self.engine = ctrl.Engine(id)
+        self.curr_speed = self.engine.get()
+        print("初始化引擎 {}, 硬件代号绑定为 {}".format(name, id))
+    def set_speed(self, new_speed):
+        self.engine.tune(new_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速调谐为 {} RPM".format(self.name, new_speed))
+    def add_speed(self, add_speed):
+        self.engine.tune(self.curr_speed + add_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速加成 {} RPM".format(self.name, add_speed))
+    def get_speed(self):
+        ##print("{} 当前转速为 {} RPM".format(self.name, self.curr_speed))
+        self.curr_speed = self.engine.get()
+        return self.curr_speed
+    def status(self):
+        ##print(self.curr_speed)
+        return {"type":"Engine", "name":self.name, "speed":self.get_speed()}
+    def selfchk(self):
+        print("开始自检引擎 {}".format(self.name))
+        self.add_speed(3)
+        self.add_speed(-6)
+        self.set_speed(0)
+        self.curr_speed = self.engine.get()
+
+
+class Sensor:
+    data = dict()
+    data["speed"] = 0
+    data["battery"] = 0
+    data["xangle"] = 0
+    data["yangle"] = 0
+    data["zangle"] = 0
+    data["sign"] = 0
+    data["cpuload"] = 0
+    data["memload"] = 0
+    data["memsum"] = 0
+    data["torch"] = 0
+    data["acc"] = 0
+    is_torch_on = 0
+
+    @staticmethod
+    def speed():
+        Sensor.data["speed"] = 99
+        return Sensor.data["speed"]
+
+    @staticmethod
+    def battery():
+        Sensor.data["battery"] = 0.8
+        return Sensor.data["battery"]
+
+    @staticmethod
+    def xangle():
+        Sensor.data["xangle"] = 201
+        return Sensor.data["xangle"]
+
+    @staticmethod
+    def yangle():
+        Sensor.data["yangle"] = 108
+        return Sensor.data["yangle"]
+
+    @staticmethod
+    def zangle():
+        Sensor.data["zangle"] = 0
+        return Sensor.data["zangle"]
+
+    @staticmethod
+    def sign():
+        Sensor.data["sign"] = 322
+        return Sensor.data["sign"]
+
+    @staticmethod
+    def cpuload():
+        Sensor.data["cpuload"] = 0.12
+        return Sensor.data["cpuload"]
+
+    @staticmethod
+    def memload():
+        Sensor.data["memload"] = 0.88
+        return Sensor.data["memload"]
+
+    @staticmethod
+    def memsum():
+        Sensor.data["memsum"] = 2048
+        return Sensor.data["memsum"]
+
+    @staticmethod
+    def torch():
+        Sensor.data["torch"] = Sensor.is_torch_on
+        return Sensor.data["torch"]
+
+    @staticmethod
+    def torchon():
+        Sensor.is_torch_on = 1
+
+    @staticmethod
+    def acc():
+        Sensor.data["acc"] = 3
+        return Sensor.data["acc"]
+
+    @staticmethod
+    def net_delay():
+        Sensor.data["net_delay"] = 300
+        return Sensor.data["net_delay"]
+    
+    @staticmethod
+    def refresh():
+        Sensor.speed()
+        Sensor.battery()
+        Sensor.xangle()
+        Sensor.yangle()
+        Sensor.zangle()
+        Sensor.sign()
+        Sensor.cpuload()
+        Sensor.memload()
+        Sensor.memsum()
+        Sensor.torch()
+        Sensor.acc()
+        Sensor.net_delay()
+    
+    @staticmethod
+    def stat():
+        #Sensor.refresh()
+        return Sensor.data
+
+    def pseudo_gui():
+        import tkinter as tk
+        def update_label(key, value):
+            labels[key].config(text=f"{key}: {value}")
+        def update():
+            while 1:
+                for key in Sensor.data.keys():
+                    Sensor.data[key] = sliders[key].get()
+        root = tk.Tk()
+        root.title("DEBUGGING CONSOLE")
+
+        labels = {}
+        sliders = {}
+
+        # 自动布局
+        for key in Sensor.data.keys():
+            # 创建标签
+            label = tk.Label(root, text=f"{key}: {Sensor.data[key]}")
+            label.pack()
+            labels[key] = label
+
+            # 创建滑块
+            slider = tk.Scale(root, from_=0, to=100, orient=tk.HORIZONTAL, command=lambda value, k=key: update_label(k, value))
+            slider.pack()
+            sliders[key] = slider
+        
+        up = threading.Thread(target=update, name='Update')
+        up.start()
+        root.mainloop()
+        up.join()