新增步进电机方向控制，振动引脚

Network.py

@@ -42,7 +42,11 @@ class NetworkHandler:
             'set_tare_num_time': 0,
             'get_weight': False,
             'set_vibrate': False,
-            'set_vibrate_time': 0
+            'set_vibrate_time': 0,
+            'direction_control': False,
+            'start_weighting': False,
+            'weighting_isok': False,
+            'vibrate_isok': False
         }
         self.lock = threading.Lock()
         self.running = True
@@ -71,6 +75,23 @@ class NetworkHandler:
                 self._process_command(cmd)
                 time.sleep(0.5)
                 # 返回当前状态
+            if self.status['start_weighting'] == True :
+                while True:
+                    if self.status['start_weighting'] == False:
+                        with self.lock:
+                            response = json.dumps(self.status)
+                        conn.send(response.encode())
+                        break
+                    time.sleep(0.5)
+            elif self.status['set_vibrate'] == True:
+                while True:
+                    if self.status['set_vibrate'] == False:
+                        with self.lock:
+                            response = json.dumps(self.status)
+                        conn.send(response.encode())
+                        break
+                    time.sleep(0.5)
+            else:
                 with self.lock:
                     response = json.dumps(self.status)
                 conn.send(response.encode())
@@ -87,10 +108,14 @@ class NetworkHandler:
 
                 self.status['target_weight'] = cmd['payload']['target_weight']
                 self.status['algorithm'] = cmd['payload'].get('algorithm', 'pid')
+                self.status['direction_control'] = cmd['payload']['direction_control']
                 self.status['measuring'] = True
+                self.status['start_weighting'] = True
+                self.status['weighting_isok'] = False
                 print("收到指令set_target:", self.status['target_weight'])
             elif cmd.get('command') == 'stop':
                 self.status['measuring'] = False
+                self.status['start_weighting'] = False
 
             elif cmd.get('command') == 'set_zero':
                 self.status['set_tare'] = True
@@ -100,4 +125,5 @@ class NetworkHandler:
 
             elif cmd.get('command') == 'set_vibrate':
                 self.status['set_vibrate'] = True
-                self.status['set_vibrate_time'] = cmd['payload']['time']
+                self.status['set_vibrate_time'] = cmd['payload']['time']
+                self.status['vibrate_isok'] = False