建立机械臂与PC间的通信

服务器的固定IP地址：127.0.0.1

机器臂的IP地址：192.168.0.156
端口：10003

采用TCP/IP通信，机器臂当服务端，自己电脑当客户机，故修改自己电脑IP地址为192.168.0.157，使其在同一个域即可通信。
用cmd调出控制界面 然后 ping 192.168.0.156
ping成功之后就可以用串口助手调试发送指令

尝试发送PCS2ACS,0,-400,200,200,-90,0,90,; 这个是一求各轴角度的一条指令，就是把当前姿态，转化为6个轴的角度
然后返回PCS2ACS,OK,-42.93,18.0313,-137.192,134.305,-72.1305,-72.5478,;
发送MoveJ,0,-42.93,18.0313,-137.192,134.305,-72.1305,-72.5478,; 机械臂开始移动

实现一个扫描正方形动作

import random
import re
import time
import socket

        
print("start test")

# 1. 创建tcp的套接字
tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# 2. 链接服务器
server_ip = "192.168.0.10"#156
server_port = 10003
server_addr = (server_ip, server_port)
tcp_socket.connect(server_addr)
time.sleep(5)

#3.开始运动
x=-400
for z in range (200,601,100):
    for y in range (-200,201,100):
        
        d="PCS2ACS"+","+"0,"+str(x)+","+str(y)+","+str(z)+","+"-90,0,90,;"
        send_data = d
        print(d)
        tcp_socket.send(send_data.encode("utf-8"))        
        receive=tcp_socket.recv(1024)
        receive=receive.decode()
        print(receive)
        m=re.split(",",receive)
        d="MoveJ"+","+"0,"+m[2]+","+m[3]+","+m[4]+","+m[5]+","+m[6]+","+m[7]+",;"
        print(d)
        send_data = d
        tcp_socket.send(send_data.encode("utf-8"))
        receive=tcp_socket.recv(1024)
        receive=receive.decode()
        while(1):
            d="ReadRobotState,0,;"
            send_data = d
            tcp_socket.send(send_data.encode("utf-8"))        
            receive=tcp_socket.recv(1024)
            receive=receive.decode()
            m=re.split(",",receive)
            
            if m[2]=='0':
                break
            time.sleep(0.5)
        m=[]