From 69dcef1710cb629fe3688884ea5ac1f9e6748671 Mon Sep 17 00:00:00 2001
From: cdeyw <827523911@qq.com>
Date: Mon, 17 Feb 2025 14:51:56 +0800
Subject: [PATCH] =?UTF-8?q?+=E6=A0=87=E5=AE=9A=E7=A8=8B=E5=BA=8F?=
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---
 CU/EMV.py | 56 +++++++++++++++++++++++++++++++++++--------------------
 1 file changed, 36 insertions(+), 20 deletions(-)

diff --git a/CU/EMV.py b/CU/EMV.py
index 89a1d2d..f5aefac 100644
--- a/CU/EMV.py
+++ b/CU/EMV.py
@@ -1,11 +1,12 @@
 import socket
 import binascii
+import time
 
 # 网络继电器的 IP 和端口
 HOST = '192.168.20.18'
 PORT = 50000
 
-
+# 电磁阀控制报文
 valve_commands = {
     1: {
         'open': '00000000000601050000FF00',
@@ -21,43 +22,58 @@ valve_commands = {
     }
 }
 
-
 # 将十六进制字符串转换为字节数据并发送
 def send_command(command):
     byte_data = binascii.unhexlify(command)
 
     # 创建套接字并连接到继电器
     with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
-        sock.connect((HOST, PORT))
-        sock.send(byte_data)
-        response = sock.recv(1024)
-        return response
-
+        try:
+            sock.connect((HOST, PORT))
+            sock.send(byte_data)
+            # 接收响应
+            response = sock.recv(1024)
+            print(f"收到响应: {binascii.hexlify(response)}")
+            # 校验响应
+            if response == byte_data:
+                print("命令成功下发，继电器已执行操作。")
+                return True
+            else:
+                print("命令下发失败，响应与请求不符。")
+                return False
+        except Exception as e:
+            print(f"通信错误: {e}")
+            return False
 
 # 控制电磁阀打开
 def open(grasp, throw, shake):
     if grasp:
-        print("打开电磁阀 1")#抓取
-        send_command(valve_commands[1]['open'])
-        #缺少反馈函数 不知道命令是否下发正确   是否需要等待延时
+        print("打开电磁阀 1")  # 抓取
+        if send_command(valve_commands[1]['open']):
+            time.sleep(1)  # 等待 1 秒
     if throw:
-        print("打开电磁阀 2")#扔袋
-        send_command(valve_commands[2]['open'])
+        print("打开电磁阀 2")  # 扔袋
+        if send_command(valve_commands[2]['open']):
+            time.sleep(1)  # 等待 1 秒
     if shake:
-        print("打开电磁阀 3")#震动
-        send_command(valve_commands[3]['open'])
-
+        print("打开电磁阀 3")  # 震动
+        if send_command(valve_commands[3]['open']):
+            time.sleep(1)  # 等待 1 秒
 
 # 控制电磁阀关闭
-def close(grasp, throw, shake ):
+def close(grasp, throw, shake):
     if grasp:
         print("关闭电磁阀 1")
-        send_command(valve_commands[1]['close'])
+        if send_command(valve_commands[1]['close']):
+            time.sleep(1)  # 等待 1 秒
     if throw:
         print("关闭电磁阀 2")
-        send_command(valve_commands[2]['close'])
+        if send_command(valve_commands[2]['close']):
+            time.sleep(1)  # 等待 1 秒
     if shake:
         print("关闭电磁阀 3")
-        send_command(valve_commands[3]['close'])
+        if send_command(valve_commands[3]['close']):
+            time.sleep(1)  # 等待 1 秒
 
-# close(True,True,True)#参数传True和False
\ No newline at end of file
+# 关闭电磁阀
+close(True, True, True)  # 参数传True和False