From 5461a09eeedf7b1acbfb12a433877f97137b2ce5 Mon Sep 17 00:00:00 2001
From: LiangShiyun <15723182159@163.com>
Date: Thu, 12 Jun 2025 21:36:36 +0800
Subject: [PATCH] jiaru recv

---
 Massage/MassageControl/MassageRobot_nova5.py |  6 +++-
 Massage/MassageControl/hardware/dobot_api.py | 34 ++++++++++++++------
 2 files changed, 29 insertions(+), 11 deletions(-)

diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py
index ad680d9..e569438 100644
--- a/Massage/MassageControl/MassageRobot_nova5.py
+++ b/Massage/MassageControl/MassageRobot_nova5.py
@@ -545,6 +545,7 @@ class MassageRobot:
     def arm_command_loop(self):
         self.logger.log_info("机械臂控制线程启动")
         self.arm.filter_matirx = np.zeros((1,7)) # 位姿伺服用
+        recv_time = 0
         # self.arm.filter_matrix = np.zeros((1,6)) # 角度伺服用
         while (not self.arm.is_exit) and (not self.exit_event.is_set()):
             try:
@@ -581,7 +582,7 @@ class MassageRobot:
                     ).encode()
                     
                     run_time = time.time() - process_start_time
-                    sleep_duration = self.control_rate.to_sec() - run_time
+                    sleep_duration = self.control_rate.to_sec() - run_time - recv_time
                     b2 =time.time()
                     if sleep_duration > 0:
                         time.sleep(sleep_duration)
@@ -594,6 +595,9 @@ class MassageRobot:
                             break
                         try:
                             self.arm.dashboard.socket_dobot.sendall(tcp_command)
+                            recv_start_time = time.time()
+                            self.arm.dashboard.socket_dobot.recv(1024)
+                            recv_time = time.time() - recv_start_time
                             break
                         except Exception as e:
                             print(f"发送指令错误：{e}")
diff --git a/Massage/MassageControl/hardware/dobot_api.py b/Massage/MassageControl/hardware/dobot_api.py
index 0b9d060..90d2494 100644
--- a/Massage/MassageControl/hardware/dobot_api.py
+++ b/Massage/MassageControl/hardware/dobot_api.py
@@ -178,21 +178,33 @@ class DobotApi:
             # self.log(f'Receive from {self.ip}:{self.port}: {data_str}')
             return data_str
         
+    # def flush_recv_buffer(self):
+    #     """非阻塞清空接收缓冲区"""
+    #     self.socket_dobot.setblocking(0)
+    #     try:
+    #         while True:
+    #             ready = select.select([self.socket_dobot], [], [], 0.01)
+    #             if ready[0]:
+    #                 try:
+    #                     self.socket_dobot.recv(1024)
+    #                 except:
+    #                     break
+    #             else:
+    #                 break
+    #     finally:
+    #         self.socket_dobot.setblocking(1)
+    
     def flush_recv_buffer(self):
-        """非阻塞清空接收缓冲区"""
-        self.socket_dobot.setblocking(0)
+        """极速清空接收缓冲区"""
+        self.socket_dobot.setblocking(False)
         try:
             while True:
-                ready = select.select([self.socket_dobot], [], [], 0.01)
-                if ready[0]:
-                    try:
-                        self.socket_dobot.recv(1024)
-                    except:
-                        break
-                else:
+                try:
+                    self.socket_dobot.recv(4096)  # 一次最多清64KB
+                except BlockingIOError:
                     break
         finally:
-            self.socket_dobot.setblocking(1)
+            self.socket_dobot.setblocking(True) 
 
     def close(self):
         """
@@ -1947,7 +1959,9 @@ class DobotApiDashboard(DobotApi):
         for ii in params:
             string = string + ','+ii
         string = string + ')'
+        start_time = time.time()
         self.flush_recv_buffer()
+        print(f"+++++++{time.time()-start_time}s++++++")
         return self.sendRecvMsg(string)
 
     def MovL(self, a1, b1, c1, d1, e1, f1, coordinateMode, user=-1, tool=-1, a=-1, v=-1, speed=-1, cp=-1, r=-1):