Add socket control

Author: anla-xu

pymycobot/mycobotsocket.py

@@ -0,0 +1,39 @@
+# coding=utf-8
+
+from __future__ import division
+import socket
+import time
+import sys
+# import threading
+
+
+class MyCobotSocket:
+    """MyCobot Python API Socket communication class."""
+
+    def __init__(self, ip, port, baudrate="115200", timeout=0.1, debug=False):
+        """
+        Args:
+            port     : port string
+            baudrate : baud rate string, default '115200'
+            timeout  : default 0.1
+            debug    : whether show debug info
+        """
+        self.SERVER_IP = ip  # 输入正确的目标ip地址，请查看树莓派ip
+        self.SERVER_PORT = 9000
+        self.sock = self.connect()
+        self.send_command(port)
+        self.send_command(baudrate)
+
+    def connect(self):
+        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        sock.connect((self.SERVER_IP, self.SERVER_PORT))  # 打开链接
+        return sock
+
+    def send_command(self, command):
+        # 发送数据
+        self.sock.sendall((command+"~").encode())
+        # 接收数据
+        data = self.sock.recv(1024)
+        if data.decode() == "None":
+            return ""
+        return data.decode()

tests/test_socket.py

@@ -0,0 +1,28 @@
+from pymycobot.mycobotsocket import MyCobotSocket
+import time
+m = MyCobotSocket("192.168.10.115", "/dev/ttyAMA0", "1000000")
+# m.send_command("send_angles([0,0,0,0,0,0],40)")
+# m.send_command("power_on")
+# print(m.send_command("is_power_on"))
+# m.send_command("release_all_servos")
+# print(m.send_command("is_controller_connected"))
+# m.send_command("send_angles([0,0,0,0,0,0],30)")
+# m.send_command("send_angle(1,100,30)")
+print(m.send_command("get_coords"))
+# print(m.send_command("get_coords"))
+# m.send_command("send_coords([59.2,-52.4,231.5,169.03,15.64,-91.2],20,1)")
+# print(m.send_command(
+#     "is_in_position([59.2,-52.4,231.5,169.03,15.64,-91.2],1)"))
+# m.send_command("jog_coord(1,0,20)")
+# print(m.send_command("release_servo(2)"))
+# m.send_command("sync_send_angles([0,0,0,0,0,0],30)")
+# m.send_command("sync_send_angles([100,0,0,0,0,0],30)")
+# m.send_command(
+#     "sync_send_coords([59.2,-52.4,231.5,169.03,15.64,-91.2],30,1)")
+# m.send_command(
+#     "sync_send_coords([53,53,412,-90.7,-1.5,12.67],30,1)")
+# print(m.send_command("is_in_position([53,53,412,-90.7,-1.5,12.67],1)"))
+
+# m.send_command("jog_angle(1,1,20)")
+# time.sleep(2)
+# m.send_command("jog_stop")