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update 初次融合+调试

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This commit is contained in:
FrankCV2048
2024-09-03 23:28:16 +08:00
parent 051de571a8
commit 0af995b9cd
10 changed files with 108 additions and 69 deletions
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77
COM/COM_Robot.py
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@ -1,11 +1,11 @@
from COM.COM_TCP import TCPClient
import queue
import json
from Model.RobotModel import DataAddress,DATARequest
from Model.RobotModel import DataAddress,DATARequest,DATAReply
class RobotClient(TCPClient):
def __init__(self, ip, port, command_quene, status_model):
def __init__(self, ip, port, command_quene, status_model:DataAddress):
super().__init__(ip, port)
self.command_quene = command_quene
self.status_model = status_model
@ -16,26 +16,27 @@ class RobotClient(TCPClient):
return
def send_Command(self):
q = queue.Queue
q.qsize()
while True: # 让出时间间隔
try:
if self.command_quene.qsize()!=0:
command = self.command_quene.get()
self.client_socket.send(json.dumps(command).encode('utf-8'))
try:
if self.command_quene.qsize()!=0:
command = self.command_quene.get()
self.client_socket.send(command.encode('utf-8'))
if False:
response = self.client_socket.recv(1024).decode('utf-8')
response_message = json.loads(response)
if True:
print('正确相应')
else:
self.errorCommands[json.dumps(command).encode('utf-8')] = response_message
print('出错')
return True
else:
return True
except Exception as e:
print('连接断开')
return False
if False:
response = self.client_socket.recv(1024).decode('utf-8')
response_message = json.loads(response)
if True:
print('正确相应')
else:
self.errorCommands[json.dumps(command).encode('utf-8')] = response_message
print('出错')
except Exception as e:
print('连接断开')
#return False
def send_Status(self):
request = DATARequest()
@ -45,25 +46,23 @@ class RobotClient(TCPClient):
# 移除特殊属性和方法
request_status_json = request.toString()
# 转字符串
while True:
try:
self.client_socket.send(json.dumps(request_status_json).encode('utf-8'))
if False:
response = self.client_socket.recv(1024).decode('utf-8')
response_message = json.loads(response)
if True:
data_status = DATARequest()
data_status.__dict__ = response_message
data_address_array = data_status.queryAddr
data_Address = DataAddress()
for i in attributes.count():
setattr(data_Address,attributes[i],data_address_array[i])
self.status_model = data_Address
else:
print('转换失败')
except Exception as e:
print('连接断开')
try:
self.client_socket.send(request_status_json.encode('utf-8'))
if True:
response = self.client_socket.recv(1024).decode('utf-8')
response_message = json.loads(response)
if True:
data_status = DATAReply()
data_status.__dict__ = response_message
data_address_array = data_status.queryAddr
data_Address = DataAddress()
data_Address.setPosition(*data_address_array)
self.status_model.setPosition(*data_address_array)
return True
except Exception as e:
return False
return False