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MutiInOneTime.py
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MutiInOneTime.py
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import threading
import time
from typing import List
import DualCarriers
from DobotControl import *
mutex = threading.Lock()
UPPER = 0
LOWER = 4
sr = ["10.3.21.125"]
class Dobot(DobotControl):
def __init__(self):
super().__init__()
self.home_pose = (219.97760009765625, -4.5157277781981975e-05, 30.15045928955078)
self.running = False
self.command = ""
def user_init(self):
# self.dobot.SetWIFIConfigMode(True)
# self.dobot.SetWIFISSID("teacher")
# self.dobot.SetWIFIPassword("yuanding")
# self.dobot.SetWIFIIPAddress(1, 0, 0, 0, 0)
print(self.dobot.GetWIFISSID(), self.dobot.GetWIFIPassword(), self.dobot.GetWIFIConnectStatus(), self.dobot.GetWIFIIPAddress())
self.dobot.SetColorSensor(1, DobotTypes.ColorPort.PORT_GP2)
self.dobot.SetEMotorEx(DualCarriers.Settings.MOTOR_PORT, 0, 0, 1)
self.running = True
def work(self):
while self.running:
global UPPER, LOWER
while LOWER < len(sr):
time.sleep(0.1)
self.moveInc(dz=30)
mutex.acquire()
UPPER += 1
LOWER -= 1
mutex.release()
while UPPER < len(sr):
time.sleep(0.1)
self.moveInc(dz=-30)
mutex.acquire()
LOWER += 1
UPPER -= 1
mutex.release()
print("exit", self.addr)
def exec(self, cmd_):
self.command = cmd_
class Command:
def __init__(self):
self.dobots: List[Dobot] = []
def add(self, dobot: Dobot):
self.dobots.append(dobot)
def work(self):
for e in self.dobots:
e.running = True
e.setDaemon(True)
e.start()
try:
input("Quit?")
finally:
for e in self.dobots:
e.running = False
if __name__ == "__main__":
cmd = Command()
for i in range(len(sr)):
dbt = Dobot()
dbt.connect(sr[i])
cmd.add(dbt)
cmd.work()