69 lines
2.2 KiB
Python
69 lines
2.2 KiB
Python
from COM.COM_TCP import TCPClient
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import queue
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import json
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from Model.RobotModel import DataAddress,DATARequest,DATAReply
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class RobotClient(TCPClient):
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def __init__(self, ip, port, command_quene, status_model:DataAddress):
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super().__init__(ip, port)
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self.command_quene = command_quene
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self.status_model = status_model
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self.errorCommands = {}
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def add_sendQuene(self,command): #后面 命令分等级，紧急命令直接执行
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self.command_quene.put(command)
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return
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def send_Command(self):
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try:
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if self.command_quene.qsize()!=0:
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command = self.command_quene.get()
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self.client_socket.send(command.encode('utf-8'))
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if False:
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response = self.client_socket.recv(1024).decode('utf-8')
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response_message = json.loads(response)
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if True:
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print('正确相应')
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else:
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self.errorCommands[json.dumps(command).encode('utf-8')] = response_message
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print('出错')
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return True
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else:
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return True
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except Exception as e:
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print('连接断开')
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return False
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def send_Status(self):
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request = DATARequest()
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dataAddr = DataAddress()
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request.queryAddr.append(dataAddr)
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# 移除特殊属性和方法
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request_status_json = request.toString()
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# 转字符串
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try:
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self.client_socket.send(request_status_json.encode('utf-8'))
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if True:
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response = self.client_socket.recv(1024).decode('utf-8')
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response_message = json.loads(response)
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if True:
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data_status = DATAReply()
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data_status.__dict__ = response_message
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data_address_array = data_status.queryAddr
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data_Address = DataAddress()
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data_Address.setPosition(*data_address_array)
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self.status_model.setPosition(*data_address_array)
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return True
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except Exception as e:
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return False
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