update 流程调试

Model/RobotModel.py

@@ -1,6 +1,6 @@
 class DATARequest:
     def __init__(self):
-        self.dsID = 'www.hc-system.com.RemoteMonitor"'
+        self.dsID = 'www.hc-system.com.RemoteMonitor'
         self.reqType = 'query'
         self.queryAddr = []
     def toString(self):
@@ -28,6 +28,12 @@ class DataAddress:
         self.world_3 = 0
         self.world_4 = 0
         self.world_5 = 0
+        self.axis_0 = 0
+        self.axis_1 = 0
+        self.axis_2 = 0
+        self.axis_3 = 0
+        self.axis_4 = 0
+        self.axis_5 = 0
         self.curAlarm = ''
         self.curCycle = ''
         self.lastCycle = ''
@@ -40,17 +46,26 @@ class DataAddress:
         self.isMoving = ''
         self.M_n = ''
         #return
-    def setPosition(self,w0,w1,w2,w3,w4,w5):
-        self.world_0 = int(w0)
-        self.world_1 = int(w1)
-        self.world_2 = int(w2)
-        self.world_3 = int(w3)
-        self.world_4 = int(w4)
-        self.world_5 = int(w5)
+    def setPosition(self,w0,w1,w2,w3,w4,w5,a0,a1,a2,a3,a4,a5):
+        self.world_0 = float(w0)
+        self.world_1 = float(w1)
+        self.world_2 = float(w2)
+        self.world_3 = float(w3)
+        self.world_4 = float(w4)
+        self.world_5 = float(w5)
+        self.axis_0 = float(a0)
+        self.axis_1 = float(a1)
+        self.axis_2 = float(a2)
+        self.axis_3 = float(a3)
+        self.axis_4 = float(a4)
+        self.axis_5 = float(a5)
 
 
+    def setAngle(self,a0,a1,a2,a3,a4,a5):
+        pass
+
     def toString(self):
-        model_str = f'"world_0","world_1","world_2","world_3","world_4","world_5"'
+        model_str = 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"'
         return model_str
 
 
@@ -85,7 +100,7 @@ class CMDReply:
 class Instruction:
     def __init__(self):
         self.oneshot = 1
-        self.action = 10 #4 自由路径 10 姿势直线 17 姿势曲线
+        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