agv python 获取地图数据

import socket
import json
import time
import struct

PACK_FMT_STR = '!BBHLH6s'
IP = '10.13.32.11'
Port = 19204


def packMasg(reqId, msgType, msg={}):
    msgLen = 0
    jsonStr = json.dumps(msg)
    if (msg != {}):
        msgLen = len(jsonStr)
    rawMsg = struct.pack(PACK_FMT_STR, 0x5A, 0x01, reqId, msgLen,msgType, b'\x00\x00\x00\x00\x00\x00')
    print("{:02X} {:02X} {:04X} {:08X} {:04X}"
    .format(0x5A, 0x01, reqId, msgLen, msgType))

    if (msg != {}):
        rawMsg += bytearray(jsonStr,'ascii')
        print(msg)

    return rawMsg


so = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
so.connect((IP, Port))
so.settimeout(5)
#test_msg = packMasg(1,3051,{"source_id": "LM48","id": "LM47",})
test_msg = packMasg(1,1004)
print("\n\nreq:")
print(' '.join('{:02X}'.format(x) for x in test_msg))
so.send(test_msg)

dataall = b''
# while True:
print('\n\n\n')
try:
    data = so.recv(16)
except socket.timeout:
    print('timeout')
    so.close
jsonDataLen = 0
backReqNum = 0
if(len(data) < 16):
    print('pack head error')
    print(data)
    so.close()
else:
    header = struct.unpack(PACK_FMT_STR, data)
    print("{:02X} {:02X} {:04X} {:08X} {:04X} {:02X} {:02X} {:02X} {:02X} {:02X} {:02X}       length: {}"
    .format(header[0], header[1], header[2], header[3], header[4],
    header[5][0], header[5][1], header[5][2], header[5][3], header[5][4], header[5][5],
    header[3]))
    jsonDataLen = header[3]
    backReqNum = header[4]
dataall += data
data = b''
readSize = 1024
try:
    while (jsonDataLen > 0):
        recv = so.recv(readSize)
        data += recv
        jsonDataLen -= len(recv)
        if jsonDataLen < readSize:
            readSize = jsonDataLen
    print(json.dumps(json.loads(data), indent=1))
    dataall += data
    #print(' '.join('{:02X}'.format(x) for x in dataall))
except socket.timeout:
    print('timeout')

so.close()