From a94b41088bb1a3bd71613e14ac2e97d2bb1e9a37 Mon Sep 17 00:00:00 2001
From: wu_xinjun <bent20140204@outlook.com>
Date: 星期五, 25 三月 2022 15:56:17 +0800
Subject: [PATCH] float support for servo controller
---
src/microwave/servers.py | 18 ++++++------------
1 files changed, 6 insertions(+), 12 deletions(-)
diff --git a/src/microwave/servers.py b/src/microwave/servers.py
index e9c315b..c24edef 100644
--- a/src/microwave/servers.py
+++ b/src/microwave/servers.py
@@ -3,13 +3,7 @@
from socketserver import BaseRequestHandler, UDPServer
from .components import *
from .constants import *
-
-# add python path of src to sys.path
-src_path = os.path.join(__file__, *(['..'] * 2))
-src_path = os.path.abspath(src_path)
-sys.path.insert(0, src_path)
-
-from protos import aerial_pb2 as pb
+from ..protos import aerial_pb2 as pb
@@ -37,7 +31,7 @@
"""
receive data packet from udp
"""
- self.data_buf.extend(data)
+ self.data_buf.extend(bytes(data))
self.ReceivedDataLength += len(data)
if self.ReceivedDataLength == self.DataLength:
# if received data length equal expected data length
@@ -47,7 +41,7 @@
def _receive_footer(self, data) -> None:
# receive footer block
- self.footer_buf.extend(data)
+ self.footer_buf.extend(bytes(data))
self.ReceivedFooterLength += len(data)
if self.ReceivedFooterLength == sizeof(FooterBlock):
self.Footer = FooterBlock.from_buffer_copy(self.footer_buf)
@@ -95,10 +89,10 @@
# 鍒ゆ柇绗竴涓暟鎹寘涓槸鍚﹀寘鍚獸ooter Block
if (header_size + data_size) < buf_size:
- self._receive_footer(buf[header_size + data_size])
+ self._receive_footer(buf[header_size + data_size:])
elif self.state == UDP_STATE_DATA:
# receive data block
- self.DataFrame.extend(buf)
+ self.DataFrame.extend(bytes(buf))
remain_data_size = self.DataLength - self.ReceivedDataLength
data_size = min(buf_size, remain_data_size)
self._receive_data(buf[: data_size])
@@ -106,7 +100,7 @@
self._receive_footer(buf[data_size: ])
elif self.state == UDP_STATE_FOOTER:
# receive footer block
- self.DataFrame.extend(buf)
+ self.DataFrame.extend(bytes(buf))
self._receive_footer(buf)
--
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