https://github.com/XiaoxingChen/roboshopAPI_py/blob/master/netprotocol/rbkNetProtoEnums.py
import json import struct API_PORT_ROBOD = 19200 API_PORT_STATE = 19204 API_PORT_CTRL = 19205 API_PORT_TASK = 19206 API_PORT_CONFIG = 19207 API_PORT_KERNEL = 19208 API_PORT_OTHER = 19210 robot_status_info_req = 1000 robot_status_run_req = 1002 robot_status_mode_req = 1003 robot_status_loc_req = 1004 robot_status_speed_req = 1005 robot_status_area_req = 1011 robot_status_io_res = 1013 robot_status_task_req = 1020 robot_status_all1_req = 1100 robot_status_alarm_res = 1050 robot_control_reloc_req = 2002 robot_control_motion_req = 2010 robot_task_gotarget_req = 3051 robot_daemon_ls_req = 5100 robot_daemon_scp_req = 5101 robot_daemon_rm_req = 5102 robot_other_setdo_req = 6001 # 0x5A + Version + serierNum + jsonLen + reqNum + rsv PACK_HEAD_FMT_STR = '!BBHLH6s' PACK_RSV_DATA = b'\x00\x00\x00\x00\x00\x00' def packMsg(reqId, msgTyp, msg={}): msgLen = 0 jsonStr = json.dumps(msg) if(msg != {}): msgLen = len(jsonStr) rawMsg = struct.pack(PACK_HEAD_FMT_STR, 0x5A, 1, reqId, msgLen, msgTyp, PACK_RSV_DATA) if(msg != {}): rawMsg += bytearray(json.dumps(msg), 'ascii') return rawMsg def unpackHead(data): result = struct.unpack(PACK_HEAD_FMT_STR, data) jsonLen = result[3] reqNum = result[4] return (jsonLen, reqNum)
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