调试更改+挡板电机添加线程和配置文件
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253
RK1106/RK1106_server_test.py
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253
RK1106/RK1106_server_test.py
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/3/16 15:00
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# @Author : reenrr
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# @File : RK1106_server_test.py
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# @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
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'''
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import socket
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import logging
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import json
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import threading
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from stepper_motor import motor_start, align_wire, cleanup, motor_stop
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# --------配置TCP服务端----------
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HOST = "192.168.5.100"
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PORT = 8888
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CONFIG_FILE = "motor_config.json"
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class RK1106Server:
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"""
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RK1106服务端类
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在初始化时加载配置，提供配置管理和指令处理功能
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"""
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def __init__(self):
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"""初始化服务端，加载配置"""
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self.config = self._load_config()
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self.current_thread = None
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logging.info(f"服务初始化完成，加载配置：{self.config}")
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def _load_config(self):
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"""
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从JSON文件加载电机配置
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:return: 加载的配置字典
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"""
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try:
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with open(CONFIG_FILE, "r") as f:
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return json.load(f)
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except FileNotFoundError:
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logging.warning(f"配置文件 {CONFIG_FILE} 未找到，将使用默认配置")
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return {"speed": 2500, "cycle": 10.0}
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except json.JSONDecodeError:
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logging.error(f"配置文件 {CONFIG_FILE} 格式错误")
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return {"speed": 2500, "cycle": 10.0}
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def _save_config(self):
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"""
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将电机配置保存到JSON文件
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"""
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try:
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with open(CONFIG_FILE, "w") as f:
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json.dump(self.config, f, indent=4, ensure_ascii=False)
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logging.info(f"配置已保存:{self.config}")
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except IOError as e:
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logging.error(f"配置文件 {CONFIG_FILE} 保存失败: {str(e)}")
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def _execute_motor_command(self, cmd_func: callable, *args, **kwargs):
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"""
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在单独的线程中执行电机命令
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:param cmd_func: 要执行的电机命令函数
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:param args: 传递给cmd_func的位置参数
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:param kwargs: 传递给cmd_func的关键字参数
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"""
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try:
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result = cmd_func(*args, **kwargs)
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logging.info(f"电机命令执行完成: {result}")
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except Exception as e:
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logging.error(f"执行电机命令时出错: {str(e)}")
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def handle_setting(self, para_type: str, para_value: str) -> dict:
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"""
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处理客户端发送的参数设置指令（cmd:"setting"），更新电机配置
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:param para_type: 要设置的参数类型，仅支持"speed"或"cycle"
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:param para_value: 参数值字符串，将尝试转换为int(speed)或float(cycle)
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:return: 标准化相应字典dict
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"""
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try:
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if para_type == "speed":
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self.config["speed"] = int(para_value)
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elif para_type == "cycle":
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self.config["cycle"] = float(para_value)
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else:
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return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
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# 保存到文件
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self._save_config()
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return {"Result": "1", "ErrMsg": "设置成功"}
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except ValueError as e:
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return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}
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def handle_start(self, para_type: str, para_value: str) -> dict:
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"""
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处理启动电机指令（cmd: "start"),使用当前配置运行电机
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:param para_type:为"direction"时，使用"para_value"作为临时方向
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:param para_value:为0或1
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:return: 标准化相应字典dict
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"""
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try:
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if para_type == "direction":
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direction = int(para_value)
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if direction not in (0, 1):
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return {"Result": "0", "ErrMsg": "方向必须为0或1"}
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# 在新线程中启动电机
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thread = threading.Thread(
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target=self._execute_motor_command,
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args=(motor_start,),
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kwargs={
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"speed": self.config["speed"],
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"cycle": self.config["cycle"],
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"direction": direction
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}
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)
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thread.start()
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dir_str = "正向" if direction == 1 else "负向"
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return {"Result": "1", "ErrMsg": f"电机启动指令已发送（{dir_str}）"}
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else:
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return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}
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def handle_stop(self) -> dict:
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"""
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处理停止电机指令（cmd: "stop")
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:return: 标准化相应字典dict
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"""
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try:
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# 在新线程中停止电机
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thread = threading.Thread(
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target=self._execute_motor_command,
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args=(motor_stop,)
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)
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thread.start()
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return {"Result": "1", "ErrMsg": "电机停止指令已发送"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}
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def handle_align(self) -> dict:
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"""
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处理线条对齐（挡板一来一回）
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:return: dict
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"""
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try:
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# 在新线程中对齐线条
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thread = threading.Thread(
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target=self._execute_motor_command,
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args=(align_wire,),
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kwargs={
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"speed": self.config['speed'],
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"cycle": self.config['cycle']
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}
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)
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thread.start()
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return {"Result": "1", "ErrMsg": "线条对齐指令已发送"}
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except Exception as e:
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return {"Result": "0", "ErrMsg": "线条对齐失败"}
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def parse_json_command(self, data: str) -> dict:
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"""
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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
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:param data: 客户端发送的原始JSON字符串
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:return dict:标准化响应字典
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"""
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try:
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cmd_obj = json.loads(data.strip())
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except json.JSONDecodeError as e:
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return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}
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cmd = cmd_obj.get("cmd", "").strip()
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para_type = cmd_obj.get("para_type", "").strip()
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para_value = cmd_obj.get("para_value", "").strip()
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if cmd == "setting":
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return self.handle_setting(para_type, para_value)
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elif cmd == "start":
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return self.handle_start(para_type, para_value)
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elif cmd == "stop":
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if para_type == "none" and para_value == "none":
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return self.handle_stop()
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else:
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return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
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elif cmd == "alignment":
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if para_type == "none" and para_value == "none":
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return self.handle_align()
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else:
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return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
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else:
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return {"Result": "0", "ErrMsg": f"未知指令：{cmd}"}
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def run_server(self):
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"""
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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
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"""
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# 创建TCP socket
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server_socket = None
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conn = None
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try:
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server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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server_socket.bind((HOST, PORT))
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server_socket.listen(1) # 只允许1个工控机连接
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logging.info(f"[1106] 服务已启动，监听端口：{PORT}，等待工控机连接...")
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while True: # 持续接受新连接
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try:
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# 等待工控机连接
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conn, addr = server_socket.accept()
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logging.info(f"[1106] 工控机已连接：{addr}")
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# 循环接收指令
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while True:
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# 接收指令（最大1024字节）
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data = conn.recv(1024).decode()
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if not data:
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logging.warning("客户端断开连接")
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break
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logging.info(f"\n[1106] 收到工控机指令：{data}")
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# 解析指令
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response_dict = self.parse_json_command(data)
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response_json = json.dumps(response_dict, ensure_ascii=False) + "\n" # 看需不需要加换行符\n
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# 发送响应给工控机
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conn.sendall(response_json.encode("utf-8"))
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logging.info(f"[1106] 已发送响应：{response_json}")
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except ConnectionError:
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logging.info("客户端异常断开")
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except Exception as e:
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logging.info(f"处理连接时发生错误: {e}")
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finally:
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if conn is not None:
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conn.close()
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conn = None # 重置，避免重复关闭
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logging.info("客户端连接已关闭，等待新连接...")
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except KeyboardInterrupt:
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logging.info("\n收到 Ctrl+C，正在关闭服务...")
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finally:
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if server_socket:
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server_socket.close()
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logging.info("服务已停止，监听 socket 已释放")
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# ----------测试接口----------
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if __name__ == "__main__":
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SERVER = RK1106Server()
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SERVER.run_server()
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