update 初次融合+调试

Model/RobotModel.py

@@ -5,7 +5,7 @@ class DATARequest:
         self.queryAddr = []
     def toString(self):
         model_str = '{'+f'"dsID":"{self.dsID}","reqType":"{self.reqType}","queryAddr":[' \
-                    f'"{self.queryAddr[0].toString()}"]'+'}'
+                    f'{self.queryAddr[0].toString()}]'+'}'
         return model_str
 
 
@@ -22,7 +22,12 @@ class DataAddress:
         self.output_n = ''
         self.axisNum = '6'
         self.axis_n = ''
-        self.world_n = ''
+        self.world_0 = 0
+        self.world_1 = 0
+        self.world_2 = 0
+        self.world_3 = 0
+        self.world_4 = 0
+        self.world_5 = 0
         self.curAlarm = ''
         self.curCycle = ''
         self.lastCycle = ''
@@ -35,9 +40,17 @@ class DataAddress:
         self.isMoving = ''
         self.M_n = ''
         #return
+    def setPosition(self,w0,w1,w2,w3,w4,w5):
+        self.world_0 = int(w0)
+        self.world_1 = int(w1)
+        self.world_2 = int(w2)
+        self.world_3 = int(w3)
+        self.world_4 = int(w4)
+        self.world_5 = int(w5)
+
 
     def toString(self):
-        model_str = f'"world_n"'
+        model_str = f'"world_0","world_1","world_2","world_3","world_4","world_5"'
         return model_str
 
 
@@ -48,8 +61,8 @@ class DATAReply:
     def __init__(self):
         self.dsID = ''
         self.reqType = ''
-        self.queryData = DataAddress()
-        return
+        self.queryData = []
+
 
 
     def JsonToObject(self):
@@ -72,7 +85,7 @@ class CMDReply:
 class Instruction:
     def __init__(self):
         self.oneshot = 1
-        self.action = 4 #4 自由路径 10 姿势直线 17 姿势曲线
+        self.action = 10 #4 自由路径 10 姿势直线 17 姿势曲线
         self.m0 = 0.0
         self.m1 = 0.0
         self.m2 = 0.0
@@ -80,13 +93,14 @@ class Instruction:
         self.m4 = 0.0
         self.m5 = 0.0
         self.ckStatus = '0x3F'
-        self.speed =10
+        self.speed = 10
         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}"'
+                    f'"m3":"{self.m3}","m4":"{self.m4}","m5":"{self.m5}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
+                    f'"delay":"{self.delay}","smooth":"{self.smooth}"'
         return model_str