控制机器臂

    1. import socket
    2. import sys
    4. received_count: int = 0
    7. def getCmdStr(cmd):
    8.     if cmd == '011':
    9.         return "00 00 00 00 00 06 01 05 00 00 FF 00"
    10.     elif cmd == '012':
    11.         return "00 00 00 00 00 06 01 05 00 00 00 00"
    12.     elif cmd == '021':
    13.         return "00 00 00 00 00 06 01 05 00 01 FF 00"
    14.     elif cmd == '022':
    15.         return "00 00 00 00 00 06 01 05 00 01 00 00"
    16.     elif cmd == "031":
    17.         return "00 00 00 00 00 06 01 05 00 02 FF 00"
    18.     elif cmd == '032':
    19.         return "00 00 00 00 00 06 01 05 00 02 00 00"
    20.     elif cmd == '121':
    21.         return "00 00 00 00 00 06 01 05 00 11 FF 00"
    22.     elif cmd == '122':
    23.         return "00 00 00 00 00 06 01 05 00 11 00 00"
    24.     else:
    25.         return "fail"
    28. def start_tcpClient(ip, port,cmd):
    29.     ###create socket
    30.     client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    31.     failed_count = 0
    32.     while True:
    33.         try:
    34.             print("start connect to server")
    35.             client.connect((ip, port))
    36.             break
    37.         except socket.error:
    38.             failed_count += 1
    39.             print("fail to connect to server %d times" % failed_count)
    40.             if failed_count == 10: return
    41.     ###send comand
    42.     # print("connect success")
    44.     # print("011:打开1#口")  # ：00 00 00 00 00 06 01 05 00 01 FF 00
    45.     # print("012:关闭1#口")  # ：00 00 00 00 00 06 01 05 00 01 00 00
    46.     # print("021:打开2#口")  # ：00 00 00 00 00 06 01 05 00 02 FF 00
    47.     # print("022:关闭2#口")  # ：00 00 00 00 00 06 01 05 00 02 00 00
    48.     # print("121:打开12#口")  # ：00 00 00 00 00 06 01 05 00 0C FF 00
    49.     # print("122:关闭12#口")  # ：00 00 00 00 00 06 01 05 00 0C 00 00
    50.     cmdstr = getCmdStr(cmd)#获得代码
    51.     if cmdstr == "fail":
    52.         print("wrong comand", cmd)
    53.     else:
    54.         d = bytes.fromhex(cmdstr)
    55.         client.send(d)
    56.         print("send message:", cmdstr)
    57.         recvMsg = client.recv(1024)
    58.         print("receive message:", recvMsg)
    59.         print("recv len is ：[%d]" % len(recvMsg))
    60.         ###received_count+=1
    62.     client.close()
    65. start_tcpClient('192.168.0.12', 502,"012")
    67. # received_data = client.recv(1024)
    68. # received_size = len(received_data)
    69. # print("cmd res receive message:",received_data)
    70. # print("cmd res receive done......",received_size)