From 114ca221accf0c8dd0f11b39a6119d2ac685a77a Mon Sep 17 00:00:00 2001
From: "Ziwei.He" <hellohezw@gmail.com>
Date: Thu, 29 May 2025 23:06:51 +0800
Subject: [PATCH] stash

---
 Massage/MassageControl/hardware/dobot_api.py  | 16 +++++++
 .../MassageControl/hardware/dobot_nova5.py    | 43 ++++++++++++++++++-
 2 files changed, 57 insertions(+), 2 deletions(-)

diff --git a/Massage/MassageControl/hardware/dobot_api.py b/Massage/MassageControl/hardware/dobot_api.py
index 8d598c9..bf9c3b2 100644
--- a/Massage/MassageControl/hardware/dobot_api.py
+++ b/Massage/MassageControl/hardware/dobot_api.py
@@ -215,6 +215,14 @@ class DobotApiDashboard(DobotApi):
     def __init__(self, ip, port, *args):
         super().__init__(ip, port, *args)
 
+    def is_connected(self):
+        try:
+            self.socket_dobot.send(b'')  # 尝试发送空数据
+            return True
+        except:
+            return False
+
+
     def EnableRobot(self, load=0.0, centerX=0.0, centerY=0.0, centerZ=0.0, isCheck=-1,):
         """
             可选参数
@@ -3036,6 +3044,14 @@ class DobotApiFeedBack(DobotApi):
         super().__init__(ip, port, *args)
         self.__MyType = []
         self.last_recv_time = time.perf_counter()
+
+    def is_connected(self):
+        try:
+            self.socket_dobot.send(b'')  # 尝试发送空数据
+            return True
+        except:
+            return False
+
         
 
     def feedBackData(self):
diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py
index 118c7d9..d3d2b84 100644
--- a/Massage/MassageControl/hardware/dobot_nova5.py
+++ b/Massage/MassageControl/hardware/dobot_nova5.py
@@ -77,8 +77,47 @@ class dobot_nova5:
                 '''
         self.feedbackData = feedbackItem() # 自定义反馈数据结构体
         self.logger = CustomLogger('Dobot_nova5')
-        self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
-        self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
+        
+        # try:
+        #     self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
+        #     if not self.dashboard.connect():
+        #         print(f"[ERROR] 无法连接 Dashboard {self.ip}:{self.dashboardPort}")
+        #         self.dashboard = None
+        #     else:
+        #         print("[INFO] Dashboard 连接成功")
+
+        # except Exception as e:
+        #     print(f"[ERROR] Dashboard 初始化失败: {e}")
+        #     self.dashboard = None
+
+        # 尝试连接 Dashboard 控制接口（默认 29999 端口）
+        try:
+            self.dashboard = DobotApiDashboard(self.ip, self.dashboardPort)
+            if self.dashboard.is_connected():
+                print("[INFO] Dashboard 连接成功")
+            else:
+                print("[ERROR] Dashboard 未连接成功")
+                self.dashboard = None
+        except Exception as e:
+            print(f"[ERROR] Dashboard 连接失败: {e}")
+            self.dashboard = None
+
+        # 尝试连接 Feedback 接口（默认 30003 端口）
+        try:
+            self.feedFour = DobotApiFeedBack(self.ip, self.feedFourPort)
+            if self.feedFour.is_connected():
+                print("[INFO] Feedback 连接成功")
+            else:
+                print("[ERROR] Feedback 未连接成功")
+                self.feedFour = None
+        except Exception as e:
+            print(f"[ERROR] Feedback 连接失败: {e}")
+            self.feedFour = None
+
+
+
+        # self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
+        # self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
 
         self.stop_feedback = threading.Event()
         self.stop_feedback.clear()