update

COM/COM_Robot.py

@@ -0,0 +1,69 @@
+from COM.COM_TCP import TCPClient
+import queue
+import json
+from Model.RobotModel import DataAddress,DATARequest
+
+class RobotClient(TCPClient):
+
+    def __init__(self,ip,port,command_quene,status_model):
+        super.__init__(ip,port)
+        self.command_quene = command_quene
+        self.status_model = status_model
+        self.errorCommands = {}
+
+    def add_sendQuene(self,command):
+        self.command_quene.put(command)
+        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'))
+
+                    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()
+
+        attributes = dir(DataAddress())
+
+        # 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)
+        # 转字符串
+        while True:
+            try:
+                self.client_socket.send(json.dumps(request_status_json).encode('utf-8'))
+                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')
+
+
+
+        return False

COM/COM_TCP.py

@@ -1,8 +1,11 @@
 import json
 import socket
+import threading
+import time
 
 class TCPClient:
     def __init__(self,ip,port):
+        self.error_count=0
         self.IPAddress = ip
         self.port = port
         self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -20,5 +23,18 @@ class TCPClient:
             return False
 
 
+    def run(self):
+        while True:
+          time.sleep(30)
+          if (self.send_Command() and self.send_Status()):
+              self.error_count=0
+
+
+    def send_Command(self):
+        return False
+
+    def send_Status(self):
+        return False
+
 
 

Model/RobotModel.py

@@ -0,0 +1,74 @@
+class DATARequest:
+    def __init__(self):
+        self.dsID = 'www.hc-system.com.RemoteMonitor"'
+        self.reqType = 'query'
+        self.queryAddr = []
+
+
+
+class DataAddress:
+    def __init__(self):
+        self.version = ''
+        self.curMold = ''
+        self.counterList = ''
+        self.counter_n = ''
+        self.curMode = ''
+        self.boardIONum = ''
+        self.input_n = ''
+        self.output_n = ''
+        self.axisNum = ''
+        self.axis_n = ''
+        self.world_n = ''
+        self.curAlarm = ''
+        self.curCycle = ''
+        self.lastCycle = ''
+        self.machineName = ''
+        self.curTorque_n = ''
+        self.curSpeed_n = ''
+        self.curAccount = ''
+        self.origin = ''
+        self.moldList = ''
+        self.isMoving = ''
+        self.M_n = ''
+        #return
+
+
+
+
+
+class DATAReply:
+    def __init__(self):
+        self.dsID = ''
+        self.reqType = ''
+        self.queryData = DataAddress()
+        return
+
+
+    def JsonToObject(self):
+        return
+
+class CMDRequest:
+    def __init__(self):
+        self.dsID = 'www.hc-system.com.HCRemoteCommand'
+        self.reqType = ''
+        self.cmdData = ''
+        return
+
+
+
+class CMDInstructRequest:
+    def __init__(self):
+        self.dsID = 'www.hc-system.com.HCRemoteCommand'
+        self.emptyList = '1'
+        self.dsData = []
+        return
+
+
+class CMDReply:
+
+    def __init__(self,dsID,reqType,cmdReply):
+        self.dsID = dsID
+        self.reqType = reqType
+        self.cmdReply = cmdReply
+        return
+

main.py

@@ -1,44 +1,47 @@
 import configparser
 import sys
 from PySide6.QtWidgets import QApplication, QMainWindow, QPushButton
-from ui_untitled import  Ui_MainWindow;
-from COM.COM_TCP import TCPClient
+from ui_untitled import  Ui_MainWindow
+from COM.COM_Robot import RobotClient
 from Expection import  ErrorCode
+from queue import Queue
+from Model.RobotModel import *
 
-class MyWindow(QMainWindow,Ui_MainWindow):
+class MainWindow(QMainWindow,Ui_MainWindow):
     def __init__(self):
-        super().__init__()
-
-        self.setWindowTitle("PySide6 Test")
-
-        self.setGeometry(100, 100, 300, 200)
-
-        self.button = QPushButton("Click Me!", self)
-        self.button.setGeometry(100, 100, 100, 40)
-        self.button.clicked.connect(self.on_button_click)
-        self.tcpClient=None
+        super(MainWindow, self).__init__()
+        self.setupUi(self)
+        self.pushButton_17.clicked.connect(self.send_position_button_click)
+        self.robotClient = None
         self.configReader = configparser.ConfigParser()
 
+
     def on_button_click(self):
         self.button.setText("Clicked!")
 
+    def send_position_button_click(self):
+        return 
+
 
     def init_Run(self):
         self.configReader.read('Seting.ini')
         ip = self.configReader.get('Robot', 'IPAddress')
         port= self.configReader.get('Robot', 'Port')
-        self.tcpClient = TCPClient(ip, port)
-        self.tcpClient.CreatConnect()
-        if self.tcpClient.is_Connect():
+        self.robotClient = RobotClient(ip, port,self.command_quene,self.status_address)
+        self.robotClient.CreatConnect()
+        if self.robotClient.is_Connect():
             return 0
         else:
             return ErrorCode.NETERROR
 
 
 
+    def send_position_command(self,position):
+        self.robotClient.add_sendQuene(position)
+
 
 if __name__ == "__main__":
     app = QApplication(sys.argv)
-    window = MyWindow()
+    window = MainWindow()
     window.show()
     sys.exit(app.exec())

test.py

@@ -0,0 +1,35 @@
+import asyncio
+
+
+async def send_update_command():
+    while True:
+        command = "update_position_command\n"
+        print('command')
+        await asyncio.sleep(2)
+        #await writer.drain()
+        await asyncio.sleep(1)
+
+
+async def query_robot_status():
+    while True:
+        command = "query_status_command\n"
+        print('status')
+        await asyncio.sleep(1)
+       # await writer.drain()
+        #feedback = await reader.read(1024)
+        #if feedback:
+        #    print("Received feedback:", feedback.decode())
+        await asyncio.sleep(2)
+
+
+async def main():
+    #reader, writer = await asyncio.open_connection('f', 'f')
+
+    await asyncio.gather(
+        send_update_command(),
+        query_robot_status()
+    )
+
+    print('UI')
+
+asyncio.run(main())