update 更新

Model/RobotModel.py

@@ -50,25 +50,47 @@ class DATAReply:
 class CMDRequest:
     def __init__(self):
         self.dsID = 'www.hc-system.com.HCRemoteCommand'
-        self.reqType = ''
-        self.cmdData = ''
+        self.reqType = 'command'
+        self.cmdData = []
         return
 
+class CMDReply:
+    def __init__(self):
+        self.dsID = 'www.hc-system.com.RemoteMonitor'
+        self.reqType = 'command'
+        self.cmdData = []
+        return
+
+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.m0 = 0.0
+        self.m1 = 0.0
+        self.m2 = 0.0
+        self.m3 = 0.0
+        self.m4 = 0.0
+        self.m5 = 0.0
+        self.skStatus = '0x3F'
+        self.speed =10
+        self.delay = 0
+        self.smooth = 0
 
 
 class CMDInstructRequest:
     def __init__(self):
         self.dsID = 'www.hc-system.com.HCRemoteCommand'
+        self.reqType = "AddRCC"
         self.emptyList = '1'
-        self.dsData = []
+        self.instructions = []
         return
 
 
-class CMDReply:
+class CMDInstructReply:
 
-    def __init__(self,dsID,reqType,cmdReply):
-        self.dsID = dsID
-        self.reqType = reqType
-        self.cmdReply = cmdReply
+    def __init__(self):
+        self.dsID = 'www.hc-system.com.HCRemoteCommand'
+        self.reqType = 'command'
+        self.cmdReply = []
         return