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()