-

agv_app/utils/arm_client.py

@@ -61,14 +61,18 @@ class ArmClient:
     def get_angles(self) -> Tuple[bool, List[float]]:
         """获取所有关节角度"""
         ok, resp = self.send_command("get_angles()")
-        if ok and resp.startswith("get_angles:["):
+        if ok:
             try:
-                # get_angles:[0.174, 0.520, ...] → list
-                nums = resp.split("[")[1].split("]")[0]
-                angles = [float(x) for x in nums.split(",")]
-                return True, angles
+                # 兼容 "get_angles:[-260.2,...]" 和 "[-260.2,...]" 两种格式
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    angles = [float(x) for x in nums]
+                    if len(angles) == 6:
+                        return True, angles
             except:
-                return False, []
+                pass
         return False, []
 
     def set_angles(self, angles: List[float], speed: int = 500) -> bool:
@@ -94,13 +98,17 @@ class ArmClient:
     def get_coords(self) -> Tuple[bool, List[float]]:
         """获取当前坐标和姿态 [x, y, z, rx, ry, rz]"""
         ok, resp = self.send_command("get_coords()")
-        if ok and "get_coords:" in resp:
+        if ok:
             try:
-                nums = resp.split("[")[1].split("]")[0]
-                coords = [float(x) for x in nums.split(",")]
-                return True, coords
+                text = resp.split(":", 1)[-1] if ":" in resp else resp
+                text = text.strip()
+                if text.startswith("[") and text.endswith("]"):
+                    nums = text[1:-1].split(",")
+                    coords = [float(x) for x in nums]
+                    if len(coords) == 6:
+                        return True, coords
             except:
-                return False, []
+                pass
         return False, []
 
     def set_coords(self, coords: List[float], speed: int = 500) -> bool:
@@ -132,19 +140,20 @@ class ArmClient:
     def state_check(self) -> bool:
         """检查机械臂状态是否正常"""
         ok, resp = self.send_command("state_check()")
-        return ok and resp == "state_check:1"
+        # 兼容 "state_check:1" 和 "1" 两种格式
+        return ok and resp.strip().lstrip("state_check:") == "1"
 
     def check_running(self) -> bool:
         """检查机械臂是否在运行"""
         ok, resp = self.send_command("check_running()")
-        return ok and resp == "check_running:1"
+        return ok and resp.strip().lstrip("check_running:") == "1"
 
     def wait_done(self, timeout: float = 30) -> bool:
         """等待上一条命令执行完成"""
         start = time.time()
         while time.time() - start < timeout:
             ok, resp = self.send_command("check_running()")
-            if ok and resp == "check_running:0":
+            if ok and resp.strip().lstrip("check_running:") == "0":
                 return True
             time.sleep(0.5)
         return False