72 lines
2.5 KiB
Python
72 lines
2.5 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
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class RobotClient(TCPClient):
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def __init__(self, ip, port, command_quene, status_model):
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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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q = queue.Queue
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q.qsize()
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while True: # 让出时间间隔
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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(json.dumps(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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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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attributes = dir(DataAddress())
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# 移除特殊属性和方法
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attributes = [attr for attr in attributes if not attr.startswith('__')]
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request.queryAddr= attributes
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request_status_json = vars(request)
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# 转字符串
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while True:
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try:
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self.client_socket.send(json.dumps(request_status_json).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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data_status = DATARequest()
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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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for i in attributes.count():
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setattr(data_Address,attributes[i],data_address_array[i])
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self.status_model = data_Address
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else:
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print('转换失败')
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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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