plc-sim/server/serial_device_controller.py

import threading
import time
from typing import Optional

import Levenshtein
import numpy as np
from flask import jsonify, Flask, request, Response
from flask_cors import CORS

from program_public_tools import ProgramPublicTools
from serial_com_service import SerialComService


class SerialDevice(object):
    def __init__(self, pubtools: ProgramPublicTools):
        self.__pubtools: ProgramPublicTools = pubtools
        self.cnc_attenuator: CNCAttenuator = CNCAttenuator(self.__pubtools)
        self.plc_sender: PLCDeviceSender = PLCDeviceSender(self.__pubtools, "PLC-Sender")
        self.plc_receiver: PLCDeviceReceiver = PLCDeviceReceiver(self.__pubtools, "PLC-Receiver")
        self.plc_receiver2: PLCDeviceReceiver = PLCDeviceReceiver(self.__pubtools, "PLC-Receiver2")
        self.enable_multi_receiver: bool = False
        self.__enable_match_cnc: bool = False
        self.com_usr_config_success = False

    def match_connection(self, com_service: SerialComService, enable_auto_match_plc_device: bool = False) \
            -> tuple[bool, bool]:
        matched: bool = False
        cnc_matched: bool = False
        if (self.cnc_attenuator.com is None) and (self.__enable_match_cnc is True):
            matched = self.cnc_attenuator.match_connection(com_service)
            if matched:
                cnc_matched = True
        if enable_auto_match_plc_device is True:
            if matched is False:
                if self.plc_sender.com is None:
                    matched = self.plc_sender.match_connection(com_service)
                elif self.plc_receiver.com is None:
                    matched = self.plc_receiver.match_connection(com_service)
                else:
                    matched = False
        return matched, cnc_matched

    def check(self):
        if self.cnc_attenuator.com is not None:
            serial_device_list = ["CNC-Attenuator"]
            not_connect_list = []
        else:
            serial_device_list = []
            not_connect_list = ["CNC-Attenuator"]
        return serial_device_list, not_connect_list


class SerialDeviceController(object):
    def __init__(self, pubtools: ProgramPublicTools):
        self.__pubtools: ProgramPublicTools = pubtools
        self.__port_list = SerialComService(self.__pubtools).port_scan()
        self.services: SerialDevice = SerialDevice(self.__pubtools)
        self.__baud_rate: int = 115200
        self.__connection_lib: dict = {}
        self.__tester: Optional[TestService] = None

    def get_tester(self):
        if self.__tester is None:
            self.__tester = TestService()
        return self.__tester

    def auto_connect(self) -> tuple[list[str], list[str], bool]:
        return self.auto_match(self.get_port_list())

    def get_port_list(self) -> list:
        return self.__port_list

    def auto_match(self, device_port_list: list[str]) -> tuple[list[str], list[str], bool]:
        not_matched_port_list: list[str] = []
        matched_port_list: list[str] = []
        cnc_match_result: bool = False
        for port_name in device_port_list:
            com_service = self.try_build_connection(port_name)
            match_flag: bool = False
            if com_service is not None:
                if com_service.connection is not None:
                    match_result, cnc_match_result = self.services.match_connection(com_service)
                    if match_result is True:
                        match_flag = True
                    else:
                        com_service.port_disconnect()
            if match_flag is True:
                matched_port_list.append(port_name)
            else:
                not_matched_port_list.append(port_name)
        return matched_port_list, not_matched_port_list, cnc_match_result

    def try_build_connection(self, port_name: str, if_add_source_to_lib: bool = False) -> Optional[SerialComService]:
        if port_name in self.__connection_lib:
            return self.__connection_lib[port_name]
        else:
            com_service: SerialComService = SerialComService(self.__pubtools)
            connection_result = False
            try:
                connection_result: bool = com_service.port_connect(port_name, self.__baud_rate)
            except Exception as e:
                self.__pubtools.debug_output(f"Error when attempting to connect port [{port_name}]: {e}")
            if connection_result is True:
                if if_add_source_to_lib is True:
                    self.__connection_lib[port_name] = com_service
                return com_service
            else:
                return None


class PLCDevice(object):
    def __init__(self, pubtools: ProgramPublicTools, name: str):
        self.pubtools: ProgramPublicTools = pubtools
        self.com: Optional[SerialComService] = None
        self.name: str = name
        self.frame_std: bytes = 200 * b'#123456789#X' + b'123456789#\n'

    def match_connection(self, com: SerialComService) -> bool:
        self.com = com
        return True


class PLCDeviceSender(PLCDevice):
    def __init__(self, pubtools: ProgramPublicTools, name: str):
        super().__init__(pubtools, name)
        self.send_pkg_number: int = 0
        self.send_pkg_count: int = 0
        self.send_pkg_length: int = len(self.frame_std)
        self.__s_server: FloatServer = FloatServer("Sender")
        self.__is_running: bool = False
        self.server_port = self.pubtools.find_available_server_port(number=1, address="0.0.0.0", start_port=8393)[0]
        self.server_url = f"sender: http://localhost:{self.server_port}{self.__s_server.name}"
        self.__pause: bool = False
        self.sleep_sec_every_step: float = 0
        self.sleep_sec_every_ten_step: float = 0.01
        self.__ten_step_counter: int = 0
        self.pull_up_signal_when_sending: bool = False
        self.__is_resetting: bool = False

    def clear(self):
        self.send_pkg_number = 0
        self.send_pkg_count = 0
        self.__ten_step_counter = 0

    def keep_send(self):
        self.__pause = False
        if self.__is_running is not True:
            self.__start_server()
            self.__is_running = True
        return self.__return_server_info()

    def pause(self):
        self.__pause = True

    def pause_and_reset_frame_std_sender(self, frame_std_new):
        if self.__is_resetting is False:
            self.__is_resetting = True
            self.pause()
            self.frame_std = frame_std_new
            self.send_pkg_length = len(self.frame_std)
            self.__is_resetting = False


    @staticmethod
    def __start_server():
        return None

    def __start_server_origin(self):
        threading.Thread(target=self.__send_thread_main).start()
        threading.Thread(target=self.__sender_server_threading_main, args=(self.server_port,)).start()
        print(self.server_url)
        return self.__return_server_info()

    @staticmethod
    def __return_server_info():
        return None, None

    def __return_server_info_origin(self):
        return self.server_port, self.server_url

    def __sender_server_threading_main(self, port):
        self.__s_server.run("0.0.0.0", port)

    def __send_thread_main(self):
        if self.sleep_sec_every_step != 0:
            print(f"[Tester] Using config: Waiting [{self.sleep_sec_every_step}] seconds every message.")
        if self.sleep_sec_every_step != 0:
            print(f"[Tester] Using config: Waiting [{self.sleep_sec_every_step}] seconds every ten message.")
        while True:
            if self.__pause is False:
                time.sleep(self.sleep_sec_every_step)
                self.__ten_step_counter += 1
                if self.__ten_step_counter == 10:
                    self.__ten_step_counter = 0
                    time.sleep(self.sleep_sec_every_ten_step)
                self.__s_server.push(self.send_pkg_count)
            else:
                time.sleep(0.1)

    def send_once(self):
        self.com.connection.write(self.frame_std)
        self.pull_up_signal_when_sending = True
        self.send_pkg_number += 1
        self.send_pkg_count = self.send_pkg_number * self.send_pkg_length


class PLCDeviceReceiver(PLCDevice):
    def __init__(self, pubtools: ProgramPublicTools, name: str):
        super().__init__(pubtools, name)
        self.error_count: int = 0
        self.receive_pkg: int = 0
        self.receive_bytes: int = 0
        self.receive_bytes_this_circle: int = 0
        self.__r_server: FloatServer = FloatServer("Receiver")
        self.server_port = self.pubtools.find_available_server_port(number=1, address="0.0.0.0", start_port=8353)[0]
        self.server_url = f"receive: http://localhost:{self.server_port}{self.__r_server.name}"
        self.__is_running: bool = False
        self.__pause: bool = False
        self.pull_up_signal_when_receiving: bool = False
        self.auto_pause_when_receiving = False
        self.__update_frame_std: bool = False
        self.__is_resetting: bool = False

    def clear(self):
        self.error_count = 0
        self.receive_pkg = 0
        self.receive_bytes = 0
        self.receive_bytes_this_circle: int = 0

    def keep_receive(self):
        self.__pause = False
        if self.__is_running is not True:
            self.__start_server()
            self.__is_running = True
        return self.__return_info()

    def pause(self):
        self.__pause = True

    def __start_server(self):
        threading.Thread(target=self.__receive_thread_main).start()
        threading.Thread(target=self.__receiver_server_threading_main, args=(self.server_port,)).start()
        print(self.server_url)
        return self.__return_info()

    def __return_info(self):
        return self.server_port, self.server_url

    def __receiver_server_threading_main(self, port):
        self.__r_server.run("0.0.0.0", port)

    def pause_and_reset_frame_std_receiver(self, frame_std_new):
        if self.__is_resetting is False:
            self.__is_resetting = True
            self.frame_std = frame_std_new
            self.pause()
            self.__update_frame_std = True

    def __receive_thread_main(self):
        frame_std: bytes = self.frame_std
        frame_std_len: int = len(frame_std)
        while True:
            if self.__update_frame_std is True:
                frame_std: bytes = self.frame_std
                frame_std_len: int = len(frame_std)
                self.__update_frame_std = False
                self.__is_resetting = False
            if self.__pause is False:
                self.receive_bytes_this_circle = 0
                line = self.com.connection.readline()
                if line:
                    self.receive_pkg += 1
                    self.receive_bytes = self.receive_bytes + len(line)
                    self.receive_bytes_this_circle = len(line)
                    self.pull_up_signal_when_receiving = True
                    get_error_bytes = self.calculate_ber_optimized(frame_std, line)
                    if get_error_bytes > frame_std_len:
                        self.error_count += frame_std_len
                    else:
                        self.error_count += get_error_bytes
                    self.__r_server.push(self.error_count)
                    if self.auto_pause_when_receiving is True:
                        self.pause()
            else:
                time.sleep(0.1)

    @staticmethod
    def calculate_ber_optimized(pkg_send, pkg_receive):
        assert isinstance(pkg_send, bytes) and isinstance(pkg_receive, bytes), "Input should be bytes"
        assert len(pkg_send) > 0 and len(pkg_receive) > 0, "Input bytes should not be empty"
        min_length = min(len(pkg_send), len(pkg_receive))
        bit_errors = 0
        for send_byte, receive_byte in zip(pkg_send[:min_length], pkg_receive[:min_length]):
            if send_byte != receive_byte:
                send_bits = np.unpackbits(np.array([send_byte], dtype=np.uint8))
                receive_bits = np.unpackbits(np.array([receive_byte], dtype=np.uint8))
                bit_errors += np.sum(send_bits != receive_bits)
        return np.int_(bit_errors / 8)


class CNCAttenuator(object):
    def __init__(self, pubtools: ProgramPublicTools):
        self.__pubtools: ProgramPublicTools = pubtools
        self.com: Optional[SerialComService] = None
        self.name: str = "CNC-Attenuator"

    def match_connection(self, com: SerialComService) -> bool:
        for _ in range(0, 2):
            com.connection.write(b'att-000.00\r\n')
            com.connection.timeout = 1
            data = com.connection.readline().decode('utf-8')
            if data.lower() == "attOK".lower():
                self.com = com
                self.__pubtools.debug_output("Successfully connect to CNC-Attenuator.")
                return True
        return False

    def set(self, num: float) -> bool:
        if self.com is None:
            return False
        else:
            try:
                formatted_num_str = "{:06.2f}".format(num)
                formatted_byte_str = b'att-' + formatted_num_str.encode('utf-8') + b'\r\n'
                self.com.connection.write(formatted_byte_str)
            except Exception as e:
                return False
            else:
                return True


class FloatServer:
    def __init__(self, name: Optional[str] = None):
        self.name: Optional[str] = name
        self.__app = Flask(__name__)
        CORS(self.__app)
        self.__value = 0.0
        self.__instrument_on = False  # 新增的仪器状态标志
        self.__setup_routes()

    def __setup_routes(self):
        if self.name is None:
            self.name = f"/float_default_{time.time()}"
        else:
            self.name = f"/{self.name}"

        @self.__app.route(self.name, methods=['GET'])
        def get_value():
            return jsonify({'value': self.__value})

        # 新增的端点来获取仪器的状态
        @self.__app.route(f"{self.name}/instrument_status", methods=['GET'])
        def get_instrument_status():
            return jsonify({'status': self.__instrument_on})

        # 新增的端点来更改仪器的状态
        @self.__app.route(f"{self.name}/set_instrument_status", methods=['POST'])
        def set_instrument_status():
            status = request.json.get('status', None)
            if status is not None:
                self.__instrument_on = status
                return Response("Instrument status updated", status=200)
            else:
                return Response("Invalid request format", status=400)

    def run(self, host, port):
        self.__app.run(host=host, port=port)

    def push(self, new_value):
        self.__value = new_value


class TestService(object):
    def __init__(self):
        self.config_sleep_sec_every_step: float = 0
        self.config_sleep_sec_every_ten_step: float = 0
        self.error_rate_percent: float = 0
        self.error_rate_percent2: float = 0
        self.__is_tester_running: bool = False
        self.__threading = None
        self.__sender = None
        self.__receiver = None
        self.__receiver2 = None
        self.__task_reset_error_rate_percent: bool = False
        self.__speed_timer: float = 0
        self.speed_kbps: float = 0
        self.speed_kbps2: float = 0
        self.__rev_timer_sec: float = time.time()
        self.__rev_timeout_sec: float = 2
        self.__is_resetting_frame_std_and_restarting: bool = False
        self.send_package_1kbit: bytes = 25 * b'12345' + b'\n'
        self.send_package_16kbit: bytes = 400 * b'12345' + b'\n'
        self.test_service_init_complete_flag: bool = False
        self.have_test_service_task_in_circle: bool = False
        self.have_task_reset_frame_std: bool = False
        self.task_lock_reset_frame_std_and_restart: bool = False
        self.__frame_std_new: bytes = self.send_package_16kbit

    def run_as_main(self):
        run_mode = ""
        while True:
            print("Run Mode: A: PLC-Tester B: CNC-Controller")
            input_mode = input("Choose a Mode: ").lower()
            if input_mode == "a":
                run_mode = input_mode
                break
            elif input_mode == "b":
                run_mode = input_mode
                break
            else:
                print("Invalid mode input! Try input again.")
        if run_mode == "a":
            self.run_as_plc_tester()
        elif run_mode == "b":
            self.run_as_cnc_controller()
        else:
            raise Exception("Error: Unknown type of run mode.")

    def run_as_cnc_controller(self):
        program_pubtools: ProgramPublicTools = ProgramPublicTools()
        serial_device_controller: SerialDeviceController = SerialDeviceController(program_pubtools)
        port_list = serial_device_controller.get_port_list()
        port_info: str = ''
        index_num: int = 0
        for port_name in port_list:
            port_info = port_info + f"Index[{index_num}]={port_name} "
            index_num += 1
        print(port_info)
        index = input("[CNC Controller] index: ")
        cnc_controller: SerialComService = SerialComService(program_pubtools)
        cnc_controller.port_connect(port_list[int(index)])
        result: bool = serial_device_controller.services.cnc_attenuator.match_connection(cnc_controller)
        if result is False:
            raise Exception("[CNC Controller] Error: Cannot connect to cnc device.")
        else:
            while True:
                get_value_input = input("Input to set cnc value: (dB) ")
                try:
                    set_value = float(get_value_input)
                except ValueError:
                    print("Invalid input! CNC value is under float format. Please enter a float number.")
                else:
                    serial_device_controller.services.cnc_attenuator.set(set_value)
                    print("Set success!")
                    input("Input any content to continue...")

    def run_as_plc_tester(self):
        program_pubtools: ProgramPublicTools = ProgramPublicTools()
        serial_device_controller: SerialDeviceController = SerialDeviceController(program_pubtools)
        # serial_device_controller.auto_connect()
        port_list = serial_device_controller.get_port_list()
        port_info: str = ''
        index_num: int = 0
        for port_name in port_list:
            port_info = port_info + f"Index[{index_num}]={port_name} "
            index_num += 1
        print(port_info)
        index_1 = input("[Sender] index: ")
        index_2 = input("[Receiver] index: ")
        index_3 = input("[Receiver2] index: (Optional) ")
        com_sender: SerialComService = SerialComService(program_pubtools)
        com_sender.port_connect(port_list[int(index_1)])
        com_receiver: SerialComService = SerialComService(program_pubtools)
        com_receiver.port_connect(port_list[int(index_2)])
        com_receiver2: Optional[SerialComService] = None
        if index_3:
            print(f"[Serial Controller] Multi Receiver Mode is enabled. Receiver2: {port_list[int(index_3)]}.")
            com_receiver2 = SerialComService(program_pubtools)
            com_receiver2.port_connect(port_list[int(index_3)])
        serial_device_controller.services.plc_sender.match_connection(com_sender)
        serial_device_controller.services.plc_receiver.match_connection(com_receiver)
        serial_device_controller.services.plc_receiver2.match_connection(com_receiver2)
        while True:
            print("Please config interval seconds for every message.")
            get_sec = input("[One Message] Seconds: float = ")
            try:
                float_sec = float(get_sec)
                break
            except ValueError:
                print("Invalid input! Seconds config is under float format. Please enter a float number.")
        while True:
            print("Please config interval seconds for every ten messages.")
            get_sec_ten = input("[Ten Messages] Seconds: float = ")
            try:
                float_sec_ten = float(get_sec_ten)
                break
            except ValueError:
                print("Invalid input! Seconds config is under float format. Please enter a float number.")
        serial_device_controller.services.plc_sender.sleep_sec_every_step = float_sec
        serial_device_controller.services.plc_sender.sleep_sec_every_ten_step = float_sec_ten
        serial_device_controller.services.plc_receiver.keep_receive()
        if com_receiver2:
            serial_device_controller.services.plc_receiver2.keep_receive()
            self.start_test_service(serial_device_controller.services.plc_sender,
                                    serial_device_controller.services.plc_receiver,
                                    serial_device_controller.services.plc_receiver2)
        else:
            self.start_test_service(serial_device_controller.services.plc_sender,
                                    serial_device_controller.services.plc_receiver, None)
        while True:
            if input():
                self.task_add_reset_error_rate()

    def task_add_reset_error_rate(self):
        self.__task_reset_error_rate_percent = True

    def __do_reset_error_rate(self):
        if self.__sender and self.__receiver:
            self.__sender.clear()
            self.__receiver.clear()
            if self.__receiver2:
                self.__receiver2.clear()
            self.__speed_timer = time.time()

    def error_rate_push(self, error_rate_percent: float, receiver_id: int = 1):
        if receiver_id == 2:
            self.error_rate_percent2 = error_rate_percent
        else:
            self.error_rate_percent = error_rate_percent

    def start_test_service(self, sender: PLCDeviceSender, receiver: PLCDeviceReceiver,
                           receiver2: Optional[PLCDeviceReceiver] = None):
        self.__pause_tester_signal = False
        if self.__is_tester_running is False:
            self.__start_tester_threading(sender, receiver, receiver2)
            self.__is_tester_running = True

    def pause_test_service(self):
        self.__pause_tester_signal = True

    def reset_frame_std_and_restart(self, frame_std_new: bytes):
        if self.task_lock_reset_frame_std_and_restart is False:
            self.task_lock_reset_frame_std_and_restart = True
            self.__frame_std_new = frame_std_new
            self.have_test_service_task_in_circle = True
            self.have_task_reset_frame_std = True

    def __do_reset_frame_std_and_restart(self):
        if self.__is_resetting_frame_std_and_restarting is False:
            self.__is_resetting_frame_std_and_restarting = True
            self.pause_test_service()
            self.__sender.pause_and_reset_frame_std_sender(self.__frame_std_new)
            self.__receiver.pause_and_reset_frame_std_receiver(self.__frame_std_new)
            if self.__receiver2 is not None:
                self.__receiver2.pause_and_reset_frame_std_receiver(self.__frame_std_new)
            self.task_add_reset_error_rate()
            self.start_test_service(self.__sender, self.__receiver, self.__receiver2)
            self.__is_resetting_frame_std_and_restarting = False

    def __test_service_task_in_circle(self):
        if self.have_task_reset_frame_std is True:
            self.__do_reset_frame_std_and_restart()
            self.have_task_reset_frame_std = False
            self.task_lock_reset_frame_std_and_restart = False

    def __start_tester_threading(self, sender: PLCDeviceSender, receiver: PLCDeviceReceiver,
                                 receiver2: Optional[PLCDeviceReceiver] = None):
        self.__threading = threading.Thread(target=self.test_service, args=(sender, receiver, receiver2)).start()

    def __check_task_reset_error_rate(self):
        if self.__task_reset_error_rate_percent is True:
            self.__do_reset_error_rate()
            self.__task_reset_error_rate_percent = False

    def update_error_rate(self, receiver_number: int = None):
        if receiver_number == 2:
            receiver = self.__receiver2
        else:
            receiver = self.__receiver
        self.__check_task_reset_error_rate()
        if (self.__sender is not None) and (receiver is not None):
            count_all = self.__sender.send_pkg_count
            get_error = receiver.error_count
            pkg_lose_bytes = (self.__sender.send_pkg_number - receiver.receive_pkg) * self.__sender.send_pkg_length
            count_error_all = pkg_lose_bytes + get_error
            if count_all != 0:
                error_rate_percent: float = 100 * count_error_all / count_all
            else:
                error_rate_percent: float = 0.0
            self.error_rate_push(error_rate_percent, receiver_number)
            self.__update_speed(count_all, pkg_lose_bytes, receiver_number)
            return count_all, pkg_lose_bytes, count_error_all
        else:
            return 0, 0, 0

    def __update_speed(self, count_all_bytes, pkg_lose_bytes, receiver_number: int = None):
        get_time = time.time() - self.__speed_timer
        if get_time != 0:
            speed_kbps = (count_all_bytes - pkg_lose_bytes) * 8 / (1000 * get_time)
        else:
            speed_kbps = 0
        if receiver_number == 2:
            self.speed_kbps2 = speed_kbps
        else:
            self.speed_kbps = speed_kbps

    def test_service(self, sender: PLCDeviceSender, receiver: PLCDeviceReceiver,
                     receiver2: Optional[PLCDeviceReceiver] = None):
        self.__sender = sender
        self.__receiver = receiver
        self.__receiver2 = receiver2
        self.__sender.sleep_sec_every_step = self.config_sleep_sec_every_step
        self.__sender.sleep_sec_every_ten_step = self.config_sleep_sec_every_ten_step
        self.__receiver.auto_pause_when_receiving = True
        if self.__receiver2:
            self.__receiver2.auto_pause_when_receiving = True
        self.__receiver.keep_receive()
        if self.__receiver2:
            self.__receiver2.keep_receive()
        self.__sender.send_once()
        self.__rev_timer_sec = time.time()
        self.__rev_timeout_sec = 2
        self.__speed_timer = time.time()
        for _ in range(0, 3):
            self.__test_circle(if_print=False)
        self.task_add_reset_error_rate()
        self.test_service_init_complete_flag = True
        while True:
            if self.have_test_service_task_in_circle is True:
                self.__test_service_task_in_circle()
                self.have_test_service_task_in_circle = False
            if self.__pause_tester_signal is False:
                self.__test_circle(if_print=True)
            else:
                time.sleep(0.1)

    @staticmethod
    def __tester_output(message: str, if_print: bool):
        if if_print is True:
            print(message)

    def __test_circle(self, if_print: bool = True):
        rev_flag_1 = self.__receiver.pull_up_signal_when_receiving
        if self.__receiver2 is None:
            rev_flag_2 = False
        else:
            rev_flag_2 = self.__receiver2.pull_up_signal_when_receiving
        if (self.__receiver2 is None) and (rev_flag_1 is True):
            count_all, pkg_lose_bytes, count_error = self.update_error_rate(1)
            self.__tester_output("====================================================", if_print)
            self.__tester_output(
                f"all: {count_all * 8} bit, lose: {pkg_lose_bytes * 8} bit, error: {count_error * 8} bit", if_print)
            self.__tester_output(f"error_rate: {self.error_rate_percent} %", if_print)
            self.__tester_output(f"DBG: 发包={self.__sender.send_pkg_number} 收包={self.__receiver.receive_pkg}",
                                 if_print)
            self.__tester_output(f"speed: {self.speed_kbps} kbps", if_print)
            if self.__sender.send_pkg_number % 5 == 0:
                self.__tester_output(f"[Sender] Package Length: {len(self.__sender.frame_std)}", if_print)
                self.__tester_output(f"[Receiver] Package Length: {len(self.__receiver.frame_std)}", if_print)
            self.__receiver.pull_up_signal_when_receiving = False
            time.sleep(self.__sender.sleep_sec_every_step)
            if self.__sender.send_pkg_number % 10 == 0:
                time.sleep(self.__sender.sleep_sec_every_ten_step)
            self.__receiver.keep_receive()
            self.__sender.send_once()
            self.__rev_timer_sec = time.time()
        elif (self.__receiver2 is not None) and (rev_flag_1 is True) and (rev_flag_2 is True):
            count_all, pkg_lose_bytes, count_error = self.update_error_rate(1)
            count_all2, pkg_lose_bytes2, count_error2 = self.update_error_rate(2)
            self.__tester_output("====================================================", if_print)
            self.__tester_output(f"Receiver [1]:", if_print)
            self.__tester_output(
                f"all: {count_all * 8} bit, lose: {pkg_lose_bytes * 8} bit, error: {count_error * 8} bit", if_print)
            self.__tester_output(f"error_rate: {self.error_rate_percent} %", if_print)
            self.__tester_output(f"DBG: 发包={self.__sender.send_pkg_number} 收包={self.__receiver.receive_pkg}",
                                 if_print)
            self.__tester_output(f"speed: {self.speed_kbps} kbps", if_print)
            self.__tester_output(f"Receiver [2]:", if_print)
            self.__tester_output(
                f"all: {count_all2 * 8} bit, lose: {pkg_lose_bytes2 * 8} bit, error: {count_error2 * 8} bit", if_print)
            self.__tester_output(f"error_rate: {self.error_rate_percent2} %", if_print)
            self.__tester_output(f"DBG: 发包={self.__sender.send_pkg_number} 收包={self.__receiver2.receive_pkg}",
                                 if_print)
            self.__tester_output(f"speed: {self.speed_kbps2} kbps", if_print)
            self.__receiver.pull_up_signal_when_receiving = False
            time.sleep(self.__sender.sleep_sec_every_step)
            if self.__sender.send_pkg_number % 10 == 0:
                time.sleep(self.__sender.sleep_sec_every_ten_step)
            self.__receiver.keep_receive()
            self.__receiver2.keep_receive()
            self.__sender.send_once()
            self.__rev_timer_sec = time.time()
        elif time.time() - self.__rev_timer_sec >= self.__rev_timeout_sec:
            self.__tester_output("====================================================", if_print)
            self.__tester_output("[Serial Controller] Warning: Receiver timeout. A package lost.", if_print)
            self.update_error_rate(1)
            self.__tester_output(f"[Serial Controller] Warning: error_rate: {self.error_rate_percent} %", if_print)
            if self.__receiver2:
                self.update_error_rate(2)
                self.__tester_output(
                    f"[Serial Controller] Warning: error_rate: {self.error_rate_percent2} % (Receiver2)", if_print)
            self.__receiver.pull_up_signal_when_receiving = False
            self.__receiver.keep_receive()
            if self.__receiver2:
                self.__receiver2.keep_receive()
            self.__sender.send_once()
            self.__rev_timer_sec = time.time()
        else:
            time.sleep(0.1)


if __name__ == "__main__":
    main_tester: TestService = TestService()
    main_tester.run_as_main()