254 lines
9.7 KiB
Python
254 lines
9.7 KiB
Python
|
#!/usr/bin/env python
|
|||
|
|
# -*- coding: utf-8 -*-
|
|||
|
|
'''
|
|||
|
|
# @Time : 2026/3/16 15:00
|
|||
|
|
# @Author : reenrr
|
|||
|
|
# @File : RK1106_server_test.py
|
|||
|
|
# @Desc : RK1106服务端（类形式，多线程），等待工控机调用 通信为JSON格式 --待测试，加了线程
|
|||
|
|
'''
|
|||
|
|
import socket
|
|||
|
|
import logging
|
|||
|
|
import json
|
|||
|
|
import threading
|
|||
|
|
|
|||
|
|
from stepper_motor import motor_start, align_wire, cleanup, motor_stop
|
|||
|
|
|
|||
|
|
|
|||
|
|
# --------配置TCP服务端----------
|
|||
|
|
HOST = "192.168.5.100"
|
|||
|
|
PORT = 8888
|
|||
|
|
CONFIG_FILE = "motor_config.json"
|
|||
|
|
|
|||
|
|
|
|||
|
|
class RK1106Server:
|
|||
|
|
"""
|
|||
|
|
RK1106服务端类
|
|||
|
|
在初始化时加载配置，提供配置管理和指令处理功能
|
|||
|
|
"""
|
|||
|
|
|
|||
|
|
def __init__(self):
|
|||
|
|
"""初始化服务端，加载配置"""
|
|||
|
|
self.config = self._load_config()
|
|||
|
|
self.current_thread = None
|
|||
|
|
logging.info(f"服务初始化完成，加载配置：{self.config}")
|
|||
|
|
|
|||
|
|
def _load_config(self):
|
|||
|
|
"""
|
|||
|
|
从JSON文件加载电机配置
|
|||
|
|
:return: 加载的配置字典
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
with open(CONFIG_FILE, "r") as f:
|
|||
|
|
return json.load(f)
|
|||
|
|
except FileNotFoundError:
|
|||
|
|
logging.warning(f"配置文件 {CONFIG_FILE} 未找到，将使用默认配置")
|
|||
|
|
return {"speed": 2500, "cycle": 10.0}
|
|||
|
|
except json.JSONDecodeError:
|
|||
|
|
logging.error(f"配置文件 {CONFIG_FILE} 格式错误")
|
|||
|
|
return {"speed": 2500, "cycle": 10.0}
|
|||
|
|
|
|||
|
|
def _save_config(self):
|
|||
|
|
"""
|
|||
|
|
将电机配置保存到JSON文件
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
with open(CONFIG_FILE, "w") as f:
|
|||
|
|
json.dump(self.config, f, indent=4, ensure_ascii=False)
|
|||
|
|
logging.info(f"配置已保存:{self.config}")
|
|||
|
|
except IOError as e:
|
|||
|
|
logging.error(f"配置文件 {CONFIG_FILE} 保存失败: {str(e)}")
|
|||
|
|
|
|||
|
|
def _execute_motor_command(self, cmd_func: callable, *args, **kwargs):
|
|||
|
|
"""
|
|||
|
|
在单独的线程中执行电机命令
|
|||
|
|
:param cmd_func: 要执行的电机命令函数
|
|||
|
|
:param args: 传递给cmd_func的位置参数
|
|||
|
|
:param kwargs: 传递给cmd_func的关键字参数
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
result = cmd_func(*args, **kwargs)
|
|||
|
|
logging.info(f"电机命令执行完成: {result}")
|
|||
|
|
except Exception as e:
|
|||
|
|
logging.error(f"执行电机命令时出错: {str(e)}")
|
|||
|
|
|
|||
|
|
def handle_setting(self, para_type: str, para_value: str) -> dict:
|
|||
|
|
"""
|
|||
|
|
处理客户端发送的参数设置指令（cmd:"setting"），更新电机配置
|
|||
|
|
:param para_type: 要设置的参数类型，仅支持"speed"或"cycle"
|
|||
|
|
:param para_value: 参数值字符串，将尝试转换为int(speed)或float(cycle)
|
|||
|
|
:return: 标准化相应字典dict
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
if para_type == "speed":
|
|||
|
|
self.config["speed"] = int(para_value)
|
|||
|
|
elif para_type == "cycle":
|
|||
|
|
self.config["cycle"] = float(para_value)
|
|||
|
|
else:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
|
|||
|
|
|
|||
|
|
# 保存到文件
|
|||
|
|
self._save_config()
|
|||
|
|
return {"Result": "1", "ErrMsg": "设置成功"}
|
|||
|
|
except ValueError as e:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
|
|||
|
|
|
|||
|
|
def handle_start(self, para_type: str, para_value: str) -> dict:
|
|||
|
|
"""
|
|||
|
|
处理启动电机指令（cmd: "start"),使用当前配置运行电机
|
|||
|
|
:param para_type:为"direction"时，使用"para_value"作为临时方向
|
|||
|
|
:param para_value:为0或1
|
|||
|
|
:return: 标准化相应字典dict
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
if para_type == "direction":
|
|||
|
|
direction = int(para_value)
|
|||
|
|
if direction not in (0, 1):
|
|||
|
|
return {"Result": "0", "ErrMsg": "方向必须为0或1"}
|
|||
|
|
|
|||
|
|
# 在新线程中启动电机
|
|||
|
|
thread = threading.Thread(
|
|||
|
|
target=self._execute_motor_command,
|
|||
|
|
args=(motor_start,),
|
|||
|
|
kwargs={
|
|||
|
|
"speed": self.config["speed"],
|
|||
|
|
"cycle": self.config["cycle"],
|
|||
|
|
"direction": direction
|
|||
|
|
}
|
|||
|
|
)
|
|||
|
|
thread.start()
|
|||
|
|
|
|||
|
|
dir_str = "正向" if direction == 1 else "负向"
|
|||
|
|
return {"Result": "1", "ErrMsg": f"电机启动指令已发送（{dir_str}）"}
|
|||
|
|
else:
|
|||
|
|
return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
|
|||
|
|
except Exception as e:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
|
|||
|
|
|
|||
|
|
def handle_stop(self) -> dict:
|
|||
|
|
"""
|
|||
|
|
处理停止电机指令（cmd: "stop")
|
|||
|
|
:return: 标准化相应字典dict
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
# 在新线程中停止电机
|
|||
|
|
thread = threading.Thread(
|
|||
|
|
target=self._execute_motor_command,
|
|||
|
|
args=(motor_stop,)
|
|||
|
|
)
|
|||
|
|
thread.start()
|
|||
|
|
return {"Result": "1", "ErrMsg": "电机停止指令已发送"}
|
|||
|
|
except Exception as e:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
|
|||
|
|
|
|||
|
|
def handle_align(self) -> dict:
|
|||
|
|
"""
|
|||
|
|
处理线条对齐（挡板一来一回）
|
|||
|
|
:return: dict
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
# 在新线程中对齐线条
|
|||
|
|
thread = threading.Thread(
|
|||
|
|
target=self._execute_motor_command,
|
|||
|
|
args=(align_wire,),
|
|||
|
|
kwargs={
|
|||
|
|
"speed": self.config['speed'],
|
|||
|
|
"cycle": self.config['cycle']
|
|||
|
|
}
|
|||
|
|
)
|
|||
|
|
thread.start()
|
|||
|
|
return {"Result": "1", "ErrMsg": "线条对齐指令已发送"}
|
|||
|
|
except Exception as e:
|
|||
|
|
return {"Result": "0", "ErrMsg": "线条对齐失败"}
|
|||
|
|
|
|||
|
|
def parse_json_command(self, data: str) -> dict:
|
|||
|
|
"""
|
|||
|
|
解析客户端发送的原始JSON字符串指令，并分发至对应处理函数
|
|||
|
|
:param data: 客户端发送的原始JSON字符串
|
|||
|
|
:return dict:标准化响应字典
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
cmd_obj = json.loads(data.strip())
|
|||
|
|
except json.JSONDecodeError as e:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
|
|||
|
|
|
|||
|
|
cmd = cmd_obj.get("cmd", "").strip()
|
|||
|
|
para_type = cmd_obj.get("para_type", "").strip()
|
|||
|
|
para_value = cmd_obj.get("para_value", "").strip()
|
|||
|
|
|
|||
|
|
if cmd == "setting":
|
|||
|
|
return self.handle_setting(para_type, para_value)
|
|||
|
|
elif cmd == "start":
|
|||
|
|
return self.handle_start(para_type, para_value)
|
|||
|
|
elif cmd == "stop":
|
|||
|
|
if para_type == "none" and para_value == "none":
|
|||
|
|
return self.handle_stop()
|
|||
|
|
else:
|
|||
|
|
return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
|
|||
|
|
elif cmd == "alignment":
|
|||
|
|
if para_type == "none" and para_value == "none":
|
|||
|
|
return self.handle_align()
|
|||
|
|
else:
|
|||
|
|
return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
|
|||
|
|
else:
|
|||
|
|
return {"Result": "0", "ErrMsg": f"未知指令：{cmd}"}
|
|||
|
|
|
|||
|
|
def run_server(self):
|
|||
|
|
"""
|
|||
|
|
启动TCP服务端，监听指定端口，接收工控机连接并循环处理JSON指令
|
|||
|
|
"""
|
|||
|
|
# 创建TCP socket
|
|||
|
|
server_socket = None
|
|||
|
|
conn = None
|
|||
|
|
|
|||
|
|
try:
|
|||
|
|
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|||
|
|
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
|||
|
|
server_socket.bind((HOST, PORT))
|
|||
|
|
server_socket.listen(1) # 只允许1个工控机连接
|
|||
|
|
logging.info(f"[1106] 服务已启动，监听端口：{PORT}，等待工控机连接...")
|
|||
|
|
|
|||
|
|
while True: # 持续接受新连接
|
|||
|
|
try:
|
|||
|
|
# 等待工控机连接
|
|||
|
|
conn, addr = server_socket.accept()
|
|||
|
|
logging.info(f"[1106] 工控机已连接：{addr}")
|
|||
|
|
|
|||
|
|
# 循环接收指令
|
|||
|
|
while True:
|
|||
|
|
# 接收指令（最大1024字节）
|
|||
|
|
data = conn.recv(1024).decode()
|
|||
|
|
if not data:
|
|||
|
|
logging.warning("客户端断开连接")
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
logging.info(f"\n[1106] 收到工控机指令：{data}")
|
|||
|
|
|
|||
|
|
# 解析指令
|
|||
|
|
response_dict = self.parse_json_command(data)
|
|||
|
|
response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
|
|||
|
|
# 发送响应给工控机
|
|||
|
|
conn.sendall(response_json.encode("utf-8"))
|
|||
|
|
logging.info(f"[1106] 已发送响应：{response_json}")
|
|||
|
|
|
|||
|
|
except ConnectionError:
|
|||
|
|
logging.info("客户端异常断开")
|
|||
|
|
except Exception as e:
|
|||
|
|
logging.info(f"处理连接时发生错误: {e}")
|
|||
|
|
finally:
|
|||
|
|
if conn is not None:
|
|||
|
|
conn.close()
|
|||
|
|
conn = None # 重置，避免重复关闭
|
|||
|
|
logging.info("客户端连接已关闭，等待新连接...")
|
|||
|
|
|
|||
|
|
except KeyboardInterrupt:
|
|||
|
|
logging.info("\n收到 Ctrl+C，正在关闭服务...")
|
|||
|
|
finally:
|
|||
|
|
if server_socket:
|
|||
|
|
server_socket.close()
|
|||
|
|
logging.info("服务已停止，监听 socket 已释放")
|
|||
|
|
|
|||
|
|
# ----------测试接口----------
|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
SERVER = RK1106Server()
|
|||
|
|
SERVER.run_server()
|