format

client_socket.py

@@ -31,41 +31,51 @@ class SocketRobotArm:
             self.port = 65432
 
         self.tkinter_root = tkinter.Tk()
+        self.tkinter_info_label = tkinter.Label(self.tkinter_root)
+        self.tkinter_exit = tkinter.Button(
+            self.tkinter_root, text="Exit", command=self.close
+        )
 
-        self.connect()
+        self.socket.connect((self.host, self.port))
+        self.cycle_base()
+        self.cycle_start()
 
     def __exit__(self, exc_type, exc_value, traceback):
+        print("exiting")
         self.socket.close()
 
     def close(self):
+        print("close")
+        self.tkinter_info_label.destroy()
+        # self.tkinter_root.destroy()
         self.socket.close()
-        self.tkinter_root.destroy()
+        self.socket = None
-        sys.exit()
+        # sys.exit()
-
-    def set_text(self, text):
-        label = tkinter.Label(self.tkinter_root, text=text)
-        label.pack()
-        self.tkinter_root.update()
-
-    def connect(self):
-        self.socket.connect((self.host, self.port))
 
+    def cycle_base(self):
         self.tkinter_root.geometry("500x300")
+        self.tkinter_exit.pack(pady=20)
 
         self.get_axis()
         self.set_text(text=f"Координаты осей {self.start_axis_coordinates}")
+        time.sleep(0.5)
         
         self.get_world()
         self.set_text(text=f"Мировые координаты {self.start_world_coordinates}")
+        time.sleep(0.5)
 
         self.get_command_count()
         self.set_text(text=f"Команд в очереди {self.remote_command_count}")
+        time.sleep(0.5)
         
         self.send_data(self.set_global_speed())
         self.set_text(text=f"Установили глобальную скорость {self.global_speed}")
+        time.sleep(0.5)
 
+    def cycle_start(self):
         self.send_data(self.start_cycle())
         self.set_text(text=f"Старт одиночного цикла")
+        time.sleep(0.5)
         
         self.add_rcc_list = (
             [self.set_physical_speed(True), self.set_output_laser(True)]
@@ -73,18 +83,20 @@ class SocketRobotArm:
             + [self.set_physical_speed(False), self.set_output_laser(False)]
         )
 
-        my_label = tkinter.Label(self.tkinter_root, text=f"Отправка данных")
+        self.tkinter_info_label.config(text=f"Отправка данных...")
-        my_label.pack()
+        self.tkinter_info_label.pack()
         self.tkinter_root.update()
 
-        exit_button = tkinter.Button(self.tkinter_root, text="Exit", command=self.close)
-        exit_button.pack(pady=20)
-
         step = 2
         for i in range(0, len(self.add_rcc_list), step):
+            if not self.tkinter_info_label:
+                return
+            if not self.socket:
+                return
+
             print(f"Отправка данных {i}...{i+step-1}")
             # self.update_text(m, text=f"Отправка данных {i}...{i+step-1}")
-            my_label.config(text=f"Отправка данных {i}...{i+step-1}")
+            self.tkinter_info_label.config(text=f"Отправка данных {i}...{i+step-1}")
             self.tkinter_root.update()
 
             self.send_data(
@@ -92,10 +104,15 @@ class SocketRobotArm:
             )
             time.sleep(0.5)
 
+    def set_text(self, text):
+        label = tkinter.Label(self.tkinter_root, text=text)
+        label.pack()
+        self.tkinter_root.update()
+
     def send_data(self, data):
-        response = None
+        if not self.socket:
-        # if data["reqType"] == "AddRCC":
+            return
-        #     return
+
         self.socket.send(str.encode(json.dumps(data)))
         response_data = self.socket.recv(1024)
         response = json.loads(response_data)

poetry.lock

@@ -158,6 +158,22 @@ files = [
     {file = "numpy-2.0.1.tar.gz", hash = "sha256:485b87235796410c3519a699cfe1faab097e509e90ebb05dcd098db2ae87e7b3"},
 ]
 
+[[package]]
+name = "pybullet"
+version = "3.2.6"
+description = "Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pybullet-3.2.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6f71d0bed6824875b521066571d612274f1d2dead3ede50f8fbdde1946ec0c40"},
+    {file = "pybullet-3.2.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a476d51726efa7aabe1dc8c4ee676b78bcd9fc19d4a2ce9776f2c9a9dacd9e8b"},
+    {file = "pybullet-3.2.6-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8af791050e927f407a85fa9de15754fbe0973f8c798fd2893773b52fa1fc70e0"},
+    {file = "pybullet-3.2.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72be1e68c61bbe49af5b7c609d59ede92d3fbbfca072e9b31d4819575c8f332b"},
+    {file = "pybullet-3.2.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba46f9d8ae76d2bcae4bf4b5768b1dccc0b3b15110b69ba3d78cd0b11f8f21cf"},
+    {file = "pybullet-3.2.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f928444471186c5d6092d71371b03436e23ec96acd7800dfefcd8e96572c6581"},
+    {file = "pybullet-3.2.6.tar.gz", hash = "sha256:da27525433c88698dc9fd8bc20fa4ae4d07738b4656633659ebd82c2d2884e08"},
+]
+
 [[package]]
 name = "pymodbus"
 version = "3.7.0"
@@ -468,4 +484,4 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "2.0"
 python-versions = "3.10.12"
-content-hash = "a224728a18ef19c1f754e77db7d8cba413724a9a4257af5704b0fad93f833c58"
+content-hash = "5d6ac608b7d4cd83ce992399f2263bf6356902a177e910b7419966ec5eb20e3f"

pyproject.toml

@@ -13,6 +13,7 @@ pymodbus = "^3.7.0"
 pymodbus3 = "^1.0.0"
 svgpathtools = "^1.6.1"
 tk = "^0.1.0"
+pybullet = "^3.2.6"
 
 
 [build-system]

test_socket_server.py

@@ -11,17 +11,20 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
     with conn:
         print(f"Connected by {addr}")
         while True:
-            data = conn.recv(1024)
+            try:
-            if data:
+                data = conn.recv(1024)
-                req = json.loads(data)
+                if data:
-                res = {"queryData": ["ok"]}
+                    req = json.loads(data)
+                    res = {"queryData": ["ok"]}
 
-                if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
+                    if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
-                    res["queryData"] = [10, 11, 12, 13, 14, 15]
+                        res["queryData"] = [10, 11, 12, 13, 14, 15]
 
-                if "queryAddr" in req and "world-0" in req["queryAddr"]:
+                    if "queryAddr" in req and "world-0" in req["queryAddr"]:
-                    res["queryData"] = [100, 101, 102, 103, 104, 105]
+                        res["queryData"] = [100, 101, 102, 103, 104, 105]
 
-                if req["reqType"] == "command":
+                    if req["reqType"] == "command":
-                    res["cmdReply"] = ['ok']
+                        res["cmdReply"] = ['ok']
-                conn.sendall(json.dumps(res).encode())
+                    conn.sendall(json.dumps(res).encode())
+            except Exception as e:
+                print(f"by {addr} error {e}")