pyside2写的PC与UR3机械臂socket通信界面,点击后却不能使机械臂运动？

Question

使用QT pyside2写的PC与UR3机械臂socket通信界面，pushButton_1点击后可以反馈机械臂末端坐标，但pushButton_2点击后却不能使机械臂运动，是什么原因？（pushButton_2的脚本单独运行是可以让机械臂运动的）还有将变量a3显示到textBrowser的代码如何写？

from PySide2.QtWidgets import QApplication, QMainWindow, QPushButton,  QPlainTextEdit, QMessageBox
from PySide2.QtUiTools import QUiLoader
from PySide2.QtCore import QFile
from socket import *
import struct
import math
import numpy as np
class Stats:

    def __init__(self):
        # 从文件中加载UI定义
        qfile_stats = QFile("D:/PyCharm 2019.1.1/临时程序文件/ui/UR3-control.ui")
        qfile_stats.open(QFile.ReadOnly)
        qfile_stats.close()
        # 从 UI 定义中动态 创建一个相应的窗口对象
        # 注意：里面的控件对象也成为窗口对象的属性了
        # 比如 self.ui.button , self.ui.textEdit
        self.ui = QUiLoader().load(qfile_stats)

        self.ui.pushButton_1.clicked.connect(self.handleCalc1)
        self.ui.pushButton_2.clicked.connect(self.handleCalc2)
        # self.ui.pushButton_3.clicked.connect(self.handleCalc3)
        # self.ui.pushButton_4.clicked.connect(self.handleCalc4)

    def handleCalc1(self):
        global ip
        global SERVER_PORT1
        global dataSocket
        ip = self.ui.lineEdit_1.text()
        SERVER_PORT = self.ui.lineEdit_2.text()
        # BUFLEN = 1024
        SERVER_PORT1=int(SERVER_PORT)


        # 实例化一个socket对象，指明协议
        dataSocket = socket(AF_INET, SOCK_STREAM)

        # 连接服务端socket
        dataSocket.connect((ip, SERVER_PORT1))
        # while True:
        dic = {'MessageSize': 'i', 'Time': 'd', 'q target': '6d', 'qd target': '6d', 'qdd target': '6d',
               'I target': '6d',
               'M target': '6d', 'q actual': '6d', 'qd actual': '6d', 'I actual': '6d', 'I control': '6d',
               'Tool vector actual': '6d', 'TCP speed actual': '6d', 'TCP force': '6d', 'Tool vector target': '6d',
               'TCP speed target': '6d', 'Digital input bits': 'd', 'Motor temperatures': '6d',
               'Controller Timer': 'd',
               'Test value': 'd', 'Robot Mode': 'd', 'Joint Modes': '6d', 'Safety Mode': 'd', 'empty1': '6d',
               'Tool Accelerometer values': '3d',
               'empty2': '6d', 'Speed scaling': 'd', 'Linear momentum norm': 'd', 'SoftwareOnly': 'd',
               'softwareOnly2': 'd', 'V main': 'd',
               'V robot': 'd', 'I robot': 'd', 'V actual': '6d', 'Digital outputs': 'd', 'Program state': 'd',
               'Elbow position': '3d', 'Elbow velocity': '3d'}
        data = dataSocket.recv(1108)
        names = []
        ii = range(len(dic))
        for key, i in zip(dic, ii):
            fmtsize = struct.calcsize(dic[key])
            data1, data = data[0:fmtsize], data[fmtsize:]
            fmt = "!" + dic[key]
            names.append(struct.unpack(fmt, data1))
            dic[key] = dic[key], struct.unpack(fmt, data1)
        # print(names)
        # print(dic)
        a = dic["q actual"]
        a2 = np.array(a[1])
        a3=a2 * 180 / math.pi
        print(a3)
        # self.ui.textBrowser.insertPlainText(a3)
        # self.ui.textBrowser.ensureCursorVisible()
    def handleCalc2(self):
        send_data1 = '''
        def svt():
            movej(p[0.4,0.4,0.3,3.14,-1.57,1.57],a=1.4, v=1.05, t=0, r=0)
            movej([0,-1.1,0,-1,0,0])
        end
        '''
        dataSocket.send(send_data1.encode('utf8'))
        print('end')

app=QApplication([])
stats = Stats()
stats.ui.show()
app.exec_()

Answer 1

你的dataSocket在handleCalc1实例化了，但在handleCalc2没有实例化，你要么在handleCalc2写入

        # 实例化一个socket对象，指明协议
        dataSocket = socket(AF_INET, SOCK_STREAM)
 
        # 连接服务端socket
        dataSocket.connect((ip, SERVER_PORT1))

要么将dataSocket的实例化对象设为类属性。

如有帮助，望采纳，谢谢