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COM/COM_Robot.py

@@ -1,7 +1,9 @@
 import logging
 from enum import Enum
 from turtle import Turtle
-# from numpy.array_api import trunc
+
+from numpy.array_api import trunc
+
 import Constant
 from COM.COM_TCP import TCPClient
 import queue
@@ -43,11 +45,17 @@ class RobotClient(TCPClient):
     def send_Command(self):
         try:
             if self.command_quene.qsize()!=0:
+                log.log_message(logging.INFO, f'robot-command:从队列获取命令')
                 command = self.command_quene.get()
+                log.log_message(logging.INFO, f'robot-command:{command}')
                 self.client_socket.send(command.encode())
                 if True:
                     response = self.client_socket.recv(1024).decode('utf-8')
                     # response_message = json.loads(response)
+                    if response:
+                      log.log_message(logging.INFO, f'robot-command:{response},剩余:{self.command_quene.qsize()}条命令')
+                    else:
+                      log.log_message(logging.INFO, f'robot-command:无返回值,剩余:{self.command_quene.qsize()}条命令')
                 return True
             else:
                 return True

COM/COM_TCP.py

@@ -41,10 +41,11 @@ class TCPClient:
                 if (self.send_Status() and self.send_Command()):
                     self.error_count = 0
             except Exception as e:
+                log.log_message(logging.ERROR,f'COM_TCP: {str(e)}')
                 self.error_count += 1
             if self.error_count> 5:
                 print("Error: 机械臂控制程序中TCPClient is not connected")
-                log.log_message(logging.ERROR,Constant.str_tcp_connect_no_reply)
+                log.log_message(logging.ERROR,f'{Constant.str_tcp_connect_no_reply}:{str(e)}')
                 try:
                     self.CreatConnect()
                     log.log_message(logging.INFO, Constant.str_tcp_reconnect)