update 通信方式

COM/COM_Robot.py

@@ -39,13 +39,11 @@ class RobotClient(TCPClient):
 
     def send_Status(self):
         request =  DATARequest()
-
-        attributes = dir(DataAddress())
+        dataAddr = DataAddress()
+        request.queryAddr.append(dataAddr)
 
         # 移除特殊属性和方法
-        attributes = [attr for attr in attributes if not attr.startswith('__')]
-        request.queryAddr= attributes
-        request_status_json = vars(request)
+        request_status_json = request.toString()
         # 转字符串
         while True:
             try:

COM/COM_TCP.py

@@ -31,7 +31,7 @@ class TCPClient:
             self.connected = self.error_count > 0
             try:
                 #time.sleep(30)
-                if (self.send_Command() and self.send_Status()):
+                if (self.send_Status() and self.send_Command()):
                     self.error_count = 0
             except:
                 self.error_count += 1

Model/RobotModel.py

@@ -3,6 +3,10 @@ class DATARequest:
         self.dsID = 'www.hc-system.com.RemoteMonitor"'
         self.reqType = 'query'
         self.queryAddr = []
+    def toString(self):
+        model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","queryAddr":[' \
+                    f'"{self.queryAddr[0].toString()}"]'+'}'
+        return model_str
 
 
 
@@ -32,6 +36,10 @@ class DataAddress:
         self.M_n = ''
         #return
 
+    def toString(self):
+        model_str = f'"world_n"'
+        return model_str
+
 
 
 
@@ -71,11 +79,17 @@ class Instruction:
         self.m3 = 0.0
         self.m4 = 0.0
         self.m5 = 0.0
-        self.skStatus = '0x3F'
+        self.ckStatus = '0x3F'
         self.speed =10
-        self.delay = 0
+        self.delay = 1.0
         self.smooth = 0
 
+    def toString(self):
+        model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
+                    f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}"'
+        return model_str
+
+
 
 class CMDInstructRequest:
     def __init__(self):
@@ -83,8 +97,11 @@ class CMDInstructRequest:
         self.reqType = "AddRCC"
         self.emptyList = '1'
         self.instructions = []
-        return
 
+    def toString(self):
+        model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","emptyList":"{self.emptyList}","instructions":'
+        model_str = model_str+"[{"+self.instructions[0].toString()+"}]"+"}"
+        return model_str
 
 class CMDInstructReply:
 

Seting.ini

@@ -2,8 +2,8 @@
 
 
 [Robot_Feed]
-IPAddress=192.168.3.5
-Port=8111
+IPAddress=192.168.10.4
+Port=502
 j1_min=-150
 j1_max=+150
 j2_min=-150

app.py

@@ -225,8 +225,8 @@ class MainWindow(QMainWindow,Ui_MainWindow):
         self.lineEdit_j6.setText(str(self.horizontalSlider_J6.value()))
 
         instruction_command = CMDInstructRequest()
-        instruction_command.instructions.append(vars(position_instruction))
-        request_command = vars(instruction_command)
+        instruction_command.instructions.append(position_instruction)
+        request_command = instruction_command.toString()
         print(request_command)
         self.robotClient.add_sendQuene(request_command)