Create robot.py

Author: OxideDevX

robot.py

@@ -0,0 +1,73 @@
+# импортируем библиотеки
+import abc
+import serial
+ 
+#создаём классы
+
+class Robot(abc.ABC):
+    @abc.abstractmethod
+    def run_command(self, cmd: str, args: tuple): pass
+
+    @abc.abstractmethod
+    def _connect(self, host: str, port: int): pass
+
+    @abc.abstractmethod
+    def _disconnect(self): pass
+
+    @abc.abstractmethod
+    def _send_message(self, message: str): pass
+
+    @abc.abstractmethod
+    def _get_message(self, message: str = ''): pass
+
+
+class RobotSerial(Robot):
+    def __init__(self):
+        self._serial = None
+
+    @abc.abstractmethod
+    def run_command(self, cmd: str, args: tuple):
+        """
+        Convers RoboDK command to robot command and sends it to robot.
+        :param str cmd: Command (Ex: MOVEJ, CONNECT)
+        :param tuple args: Command arguments (Ex: Joint angles [0, 0, 0]
+        """
+
+        pass
+
+    def _connect(self, port: str, baud_rate: int) -> bool:
+        """
+        Establishes a serial connection.
+        :param str port: USB serial port address
+        :param int baud_rate: Baud rate of communication channel
+        :return: Whether connection attempt has succeeded
+        :rtype: bool
+        """
+
+        try:
+            self._serial = serial.Serial(port, baudrate=baud_rate, timeout=0.5)
+        except serial.serialutil.SerialException:
+            return False
+
+        return True
+
+    def _disconnect(self) -> bool:
+        """
+        Ends serial connection.
+        :return: Whether disconnection attempt has succeeded
+        :rtype: bool
+        """
+
+        if not self._serial:
+            return True
+
+        try:
+            self._serial.close()
+        except serial.serialutil.SerialException:
+            return False
+
+        return True
+
+    def _send_message(self, message: str):
+        """
+        Sends a line