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