add callback ignoring

utils.py

@@ -18,6 +18,19 @@ class RobotStatus:
     Resumed = 3
 
 
+class RobotJasonServerError:
+    RESUTL_SUCC = 0
+    RESUTL_BASE = 3000
+    RESUTL_ERROR_BAD_COMMAND_STRING = RESUTL_BASE + 1
+    RESUTL_ERROR_UNKNOWN_COMMAND = RESUTL_BASE + 2
+    RESUTL_ERROR_ARGS = RESUTL_BASE + 2
+    RESUTL_ERROR_MOVE = RESUTL_BASE + 3
+    RESUTL_CALL_BACK = RESUTL_BASE + 4
+    RESUTL_ERROR_CLIENTS_NUMBER = RESUTL_BASE + 5
+    RESUTL_ERROR_DISCONNECT_TO_MODBUS_SERVER = RESUTL_BASE + 6
+    RESUTL_ERROR_CONNECT_TO_MODBUS_SERVER = RESUTL_BASE + 7
+
+
 class RobotClient:
     def __init__(self, host, port):
         self.host = host
@@ -29,26 +42,18 @@ class RobotClient:
         if DEBUG:
             print(f"{CYAN}DEBUG: sended:{RESET} {cmd}")
         self.sock.sendall(json.dumps(cmd).encode("utf-8"))
-        try:
-            ret = self._recv_full_json()
+        
+        while True:
+            data = self.sock.recv(4096).decode("utf-8")
+            ret = json.loads(data)
             if DEBUG:
                 print(f"{YELLOW}DEBUG: received:{RESET} {ret}")
-            return ret
-        except Exception as e:
-            print(f"{RED}ERROR: {e}{RESET}")
-            return {}
-
-    def _recv_full_json(self) -> dict:
-        buffer = ""
-        while True:
-            chunk = self.sock.recv(4096).decode("utf-8")
-            if not chunk:
-                raise ConnectionError("Connection closed")
-            buffer += chunk
-            try:
-                return json.loads(buffer)
-            except json.JSONDecodeError:
-                continue  # not полный JSON, продолжаем читать
+            if ret["ret"] == RobotJasonServerError.RESUTL_CALL_BACK:
+                if DEBUG:
+                    print(f"{YELLOW}DEBUG: received callback event (ignored as response): {ret['msg']}")
+                continue
+            else:
+                return ret
 
     def rpy_to_quat(self, arr):
         cmd = {"command": "rpy_to_quaternion", "rpy": arr}