更新控制

COM/COM_Robot.py

@@ -12,13 +12,16 @@ from Util.util_log import log
 
 class RobotClient(TCPClient):
 
-    def __init__(self, ip, port, photo_locs,command_quene, status_model:DataAddress,con_ios):
+    def __init__(self, ip, port, photo_locs,command_quene, status_model:DataAddress,con_ios, time_delay_take,time_delay_put,time_delay_shake):
         super().__init__(ip, port)
         self.command_quene = command_quene
         self.status_model = status_model
         self.errorCommands = {}
         self.photo_locs = photo_locs
         self.con_ios = con_ios
+        self.time_delay_take= time_delay_take
+        self.time_delay_put = time_delay_put
+        self.time_delay_shake = time_delay_shake
     def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
         self.command_quene.put(command)
         return
@@ -29,21 +32,16 @@ class RobotClient(TCPClient):
                 command = self.command_quene.get()
                 self.client_socket.send(command.encode())
 
-                if False:
+                if True:
                     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')
+                    # response_message = json.loads(response)
                 return True
             else:
                 return True
         except Exception as e:
-            log.log_message(logging.ERROR, str_tcp_robot_connect_fail)
-            raise 
-          
+            log.log_message(logging.ERROR, Constant.str_tcp_robot_connect_fail)
+            raise
+
 
 
     def send_Status(self):

COM/COM_TCP.py

@@ -12,7 +12,7 @@ class TCPClient:
         self.error_count=0
         self.IPAddress = ip
         self.port = port
-
+        self.thread_signal = True
         self.connected = False
 
 
@@ -31,8 +31,8 @@ class TCPClient:
 
 
     def run(self):
-        while True:
-            time.sleep(0.2)
+        while self.thread_signal:
+            time.sleep(0.4)
             self.connected = (self.error_count <= 3)
             try:
                 if (self.send_Status() and self.send_Command()):
@@ -53,7 +53,9 @@ class TCPClient:
                 except Exception as e2:
                     print(e2)
 
-
+    def close(self):
+        self.thread_signal = False
+        self.client_socket.close()
 
     def send_Command(self):
         return False