写不NG流程：添加传送带运行、步进电机移动、线条个数方便后续夹爪的抓取、气动夹爪控制流程

client.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+# @Time    : 2026/1/9 10:49
+# @Author  : reenrr
+# @File    : client.py
+# @Desc    : 工具工控机客户端
+"""
+import socket
+import logging
+import time
+
+# -------- RK1106配置 ----------
+_1106_IP = "127.0.0.1"  # 替换为3506的真实IP（本地测试用127.0.0.1）
+_1106_PORT = 8888  # 和3506服务端一致的端口
+TIMEOUT = 10  # 通讯超时时间（秒）
+
+
+class IndustrialPCClient:
+    """工控机客户端类，封装与1106的通讯逻辑"""
+
+    def __init__(self, ip: str, port: int, timeout: int = 10):
+        self.ip = ip
+        self.port = port
+        self.timeout = timeout
+        self.socket = None  # 通讯socket
+
+    def connect(self) -> bool:
+        """连接1106服务端"""
+        try:
+            # 创建TCP socket
+            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.socket.settimeout(self.timeout)  # 设置超时
+            # 连接3506
+            self.socket.connect((self.ip, self.port))
+            logging.info(f"[工控机] 成功连接1106：{self.ip}:{self.port}")
+            return True
+        except socket.timeout:
+            logging.error(f"[工控机] 连接1106超时（{self.timeout}s）")
+            self.close()
+            return False
+        except ConnectionRefusedError:
+            logging.error(f"[工控机] 1106拒绝连接（请检查1106服务是否启动）")
+            self.close()
+            return False
+        except Exception as e:
+            logging.error(f"[工控机] 连接1106失败：{str(e)}", exc_info=True)
+            self.close()
+            return False
+
+    def send_command(self, prog_id: str, **params) -> tuple[bool, str]:
+        """
+        向1106发送指令
+        :param prog_id: 指令标识（如STEPPER_TEST）
+        :param params: 指令参数（如speed=50, steps=200）
+        :return: (是否成功, 响应信息)
+        """
+        if not self.socket:
+            return False, "未连接1106，请先调用connect()"
+
+        # 构造指令字符串（符合1106解析格式）
+        param_str = "&".join([f"{k}={v}" for k, v in params.items()])
+        cmd = f"{prog_id}|{param_str}" if param_str else prog_id
+
+        try:
+            # 发送指令（UTF-8编码）
+            self.socket.sendall(cmd.encode("utf-8"))
+            logging.info(f"[工控机] 发送指令：{cmd}")
+
+            # 接收3506响应（最大1024字节）
+            resp = self.socket.recv(1024).decode("utf-8", errors="ignore").strip()
+            if not resp:
+                return False, "未收到1106响应"
+
+            # 解析响应（SUCCESS/FAIL|描述）
+            if "|" in resp:
+                status, msg = resp.split("|", 1)
+                success = status == "SUCCESS"
+                logging.info(f"[工控机] 1106响应：{'成功' if success else '失败'} - {msg}")
+                return success, msg
+            else:
+                # 响应格式异常
+                logging.warning(f"[工控机] 1106响应格式异常：{resp}")
+                return False, f"响应格式错误：{resp}"
+
+        except socket.timeout:
+            logging.error(f"[工控机] 发送指令后超时（{self.timeout}s）未收到响应")
+            return False, "通讯超时"
+        except Exception as e:
+            logging.error(f"[工控机] 发送指令失败：{str(e)}", exc_info=True)
+            return False, str(e)
+
+    def close(self):
+        """关闭连接"""
+        if self.socket:
+            self.socket.close()
+            self.socket = None
+            logging.info("[工控机] 已断开与1106的连接")
+
+# ---------对外接口----------
+def control_stepper_motor():
+    """示例：工控机调用1106的步进电机控制程序"""
+    # 初始化客户端
+    client = IndustrialPCClient(_1106_IP, _1106_PORT, TIMEOUT)
+
+    # 连接1106
+    if not client.connect():
+        return
+
+    try:
+        # ========== 示例1：无参数调用步进电机测试 ==========
+        logging.info("\n===== 无参数调用步进电机测试 =====")
+        success, msg = client.send_command("test")
+        if not success:
+            logging.error(f"调用失败：{msg}")
+
+        time.sleep(2)  # 间隔2秒  可能根据实际效果进行延时调整
+
+    finally:
+        # 确保关闭连接
+        client.close()
+
+# ---------测试接口----------
+if __name__ == "__main__":
+    control_stepper_motor()