def handle(self):
#client = self.request
sock = SimpleMessageSocket(self.request)
address = self.client_address[0]
print('connected with {}'.format(address))
ctl = RobotController()
motion_thread = MotionThread(ctl)
motion_thread.start()
msg_handlers = {
SimpleMessageType.JOINT_TRAJ_PT: self.on_joint_traj_pt,
SimpleMessageType.EXECUTE_PROGRAM: self.on_execute_program
}
try:
while True:
recv_msg = sock.recv()
msg_handler = msg_handlers.get(recv_msg.msg_type,
self.on_unkown_message)
reply_msg = msg_handler(ctl, recv_msg, motion_thread)
sock.send(reply_msg)
finally:
ctl.close()
def handle(self):
#client = self.request
sock = SimpleMessageSocket(self.request)
address = self.client_address[0]
print('connected from {}'.format(address))
ctl = RobotController()
msg_handlers = {
SimpleMessageType.SET_IO: self.on_set_io,
SimpleMessageType.SET_POSTURE: self.on_set_posture,
SimpleMessageType.GET_POSTURE: self.on_get_posture,
SimpleMessageType.SYS_STAT: self.on_sys_stat,
SimpleMessageType.SET_TOOL_OFFSET: self.on_set_tool_offset
}
try:
while True:
recv_msg = sock.recv()
msg_handler = msg_handlers.get(recv_msg.msg_type,
self.on_unkown_message)
reply_msg = msg_handler(ctl, recv_msg)
sock.send(reply_msg)
finally:
ctl.close()