增加速度调试和IO控制

Model/RobotModel.py

@@ -55,6 +55,8 @@ class DataAddress:
         self.isMoving = False
         self.M_n = ''
         self.RemoteCmdLen = 0
+        self.toolCoord=''
+
         #return
     def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
         self.world_0 = float(w0)
@@ -81,7 +83,7 @@ class DataAddress:
     def toString(self):
         model_str = f'"curMode",' \
                     f'"world-0","world-1","world-2","world-3","world-4","world-5","axis-0","axis-1","axis-2","axis-3","axis-4","axis-5",' \
-                    f'"curAlarm","isMoving","RemoteCmdLen"'
+                    f'"curAlarm","isMoving","RemoteCmdLen","toolCoord","input-n","output-n","curSpeed-n"'
         return model_str
 
 
@@ -136,16 +138,26 @@ class Instruction:
         self.delay = 1.0
         self.smooth = 0
         self.tool=2
+        self.IO = False
+        self.type = 0
+        self.io_status=1
+        self.point = 0
+        self.delay = 0
 
     def toString(self):
-        model_str = f'"oneshot":"{self.oneshot}","action":"{self.action}","m0":"{self.m0}","m1":"{self.m1}","m2":"{self.m2}",' \
+        if not self.IO :
+            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}","ckStatus":"{self.ckStatus}","speed":"{self.speed}",' \
                     f'"delay":"{self.delay}","smooth":"{self.smooth}","tool":"{self.tool}"'
+        else:
+            model_str = f'"oneshot":"{self.oneshot}","action":"{200}","type":"{self.type}","io_status":"{self.io_status}"' \
+                        f',"point":"{self.point}","delay":"{self.delay}"'
 
         return model_str
 
 
 
+
 class CMDInstructRequest:
     def __init__(self):
         self.dsID = 'www.hc-system.com.HCRemoteCommand'