movefasta/aubo-old-sdk-test
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add timeout to send

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This commit is contained in:
Ilya Uraev 2025-05-23 14:54:12 +03:00
parent 4ebd4a6206
commit fb7ededef7
1 changed files with 3 additions and 3 deletions
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6
utils.py
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@ -73,13 +73,13 @@ class RobotClient:
print(f"{RED}DEBUG: Exception in recv loop: {e}{RESET}") print(f"{RED}DEBUG: Exception in recv loop: {e}{RESET}")
break break
def _send_single_json(self, cmd) -> dict: def _send_single_json(self, cmd, timeout=5.0) -> dict:
if DEBUG: if DEBUG:
print(f"{CYAN}DEBUG: sended:{RESET} {cmd}") print(f"{CYAN}DEBUG: sended:{RESET} {cmd}")
self.sock.sendall(json.dumps(cmd).encode("utf-8")) self.sock.sendall(json.dumps(cmd).encode("utf-8"))
try: try:
response = self._response_queue.get(timeout=5) response = self._response_queue.get(timeout=timeout)
try: try:
extra = self._response_queue.get_nowait() extra = self._response_queue.get_nowait()
raise RuntimeError( raise RuntimeError(
@ -170,7 +170,7 @@ class RobotClient:
def move_line(self, joint_radian: list) -> None: def move_line(self, joint_radian: list) -> None:
cmd = {"command": "move_line", "joint_radian": joint_radian} cmd = {"command": "move_line", "joint_radian": joint_radian}
ret = self._send_single_json(cmd) ret = self._send_single_json(cmd, 10.0)
if (ret.get("ret") != 0): if (ret.get("ret") != 0):
raise RuntimeError(f"move_line failed: {ret}") raise RuntimeError(f"move_line failed: {ret}")
self.wait_untill_motion_is_done(10.0) self.wait_untill_motion_is_done(10.0)