axis refactor

main.py

@@ -113,11 +113,11 @@ class MyApp:
 
     @check_robot_app
     def get_world_coordinates(self):
-        return self.robot_app.get_world_coordinates()
+        return self.robot_app.world_coordinates
 
     @check_robot_app
     def get_axis_coordinates(self):
-        return self.robot_app.get_axis_coordinates()
+        return self.robot_app.axis_coordinates
 
     @check_robot_app
     def get_command_count(self):

robot/client_socket.py

@@ -17,8 +17,10 @@ from robot.func import *
 from robot.prepare_data import PrepareRobotData
 from robot.urdf_manager import UrdfManager
 from robot.socket_manager import SocketManager
+
 # os.environ["LIBGL_ALWAYS_SOFTWARE"] = "1"
 
+
 class SocketRobotArm:
     global_speed = 10
     physical_speed = 10
@@ -31,8 +33,8 @@ class SocketRobotArm:
     pass_size = 4
     connected_status = Literal["connected", "not_connected", "error"]
 
-    axis_coordinates = []
-    world_coordinates = []
+    _axis_coordinates = []
+    _world_coordinates = []
     remote_command_count = []
 
     command_type = "base"
@@ -90,10 +92,10 @@ class SocketRobotArm:
     def upd_model_func(self):
         # logger.info("UPDATE MODEL FUNC")\
 
-        self.get_axis()
+        self.get_coordinates("axis")
         self.set_text(text=f"Координаты осей {self.axis_coordinates}")
 
-        self.get_world()
+        self.get_coordinates("world")
         self.set_text(text=f"Мировые координаты {self.world_coordinates}")
 
         num_joints = p.getNumJoints(self.urdf_manager.body_id)
@@ -174,29 +176,33 @@ class SocketRobotArm:
     def send_data(self, data):
         return self.socket_manager.send_data(data)
 
-    def get_axis(self):
-        axis_coord_raw = self.send_data(
-            make_query_data(
-                ["axis-0", "axis-1", "axis-2", "axis-3", "axis-4", "axis-5"]
-            )
-        )
-        self.axis_coordinates = [float(i) for i in axis_coord_raw]
-        print("start_axis_coordinates", self.axis_coordinates)
+    def get_coordinates(self, coord_type: Literal["axis", "world"] = "axis"):
+        request = make_query_data([f"{coord_type}-{i}" for i in range(6)])
+        result = self.send_data(request)
+        if not result:
+            return
+        data = [
+            float(i)
+            for i in result
+        ]
+        if coord_type == "axis":
+            self._axis_coordinates = data
+        elif coord_type == "world":
+            self._world_coordinates = data
 
-    def get_axis_coordinates(self):
-        return self.axis_coordinates
+    @property
+    def axis_coordinates(self):
+        if not self._axis_coordinates:
+            return [0,0,0,0,0,0]
+            # self.get_coordinates("axis")
+        return self._axis_coordinates
 
-    def get_world(self):
-        world_coord_raw = self.send_data(
-            make_query_data(
-                ["world-0", "world-1", "world-2", "world-3", "world-4", "world-5"]
-            )
-        )
-        self.world_coordinates = [float(i) for i in world_coord_raw]
-        print("start_world_coordinates", self.world_coordinates)
-
-    def get_world_coordinates(self):
-        return self.world_coordinates
+    @property
+    def world_coordinates(self):
+        if not self._world_coordinates:
+            return [0,0,0,0,0,0]
+            # self.get_coordinates("world")
+        return self._world_coordinates
 
     def _get_command_count(self):
         res = self.send_data(make_query_data(["RemoteCmdLen"]))

utils/test_socket_server.py

@@ -98,10 +98,9 @@ def handle_client(conn, addr):
             req = json.loads(data)
             print(req)
             res = {"queryData": ["ok"]}
-            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
             global coordinates_index
+            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
                 print(f"----{coordinates_index}----")
-                c = c_angles[coordinates_index]
                 limit = len(c_angles) - 1
                 # limit = 2
                 if coordinates_index < limit:
@@ -109,6 +108,8 @@ def handle_client(conn, addr):
                 else:
                     coordinates_index = 0
                     
+            c = c_angles[coordinates_index]
+
             if "queryAddr" in req and "axis-0" in req["queryAddr"]:
                 res["queryData"] = c["axis"]