skyeyesystem/MiniSAR-Simulator-Py-main/module1_receiver.py

"""
模块1：UDP接收模块
监听38101端口，接收来自主控的控制指令
"""

import socket
import threading
import logging
from typing import Callable, Optional
from data_structures import ControlPacket, CONTROL_RX_PORT


class UDPReceiver:
    """UDP接收模块"""
    
    def __init__(self, local_ip: str = '0.0.0.0', port: int = CONTROL_RX_PORT, callback: Optional[Callable] = None):
        """
        初始化接收模块
        
        Args:
            local_ip: 本地监听IP
            port: 监听端口
            callback: 接收到数据后的回调函数，签名为 callback(packet, remote_addr)
        """
        self.local_ip = local_ip
        self.port = port
        self.callback = callback
        self.socket = None
        self.running = False
        self.receive_thread = None
        
        # 配置日志
        self.logger = logging.getLogger(f'Module1-Receiver:{port}')
        self.logger.setLevel(logging.INFO)
        if not self.logger.handlers:
            handler = logging.StreamHandler()
            formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
            handler.setFormatter(formatter)
            self.logger.addHandler(handler)
    
    def start(self):
        """启动接收模块"""
        if self.running:
            self.logger.warning("Receiver is already running")
            return
        
        try:
            # 创建UDP套接字
            self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
            self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
            self.socket.bind((self.local_ip, self.port))
            
            self.running = True
            self.logger.info(f"Receiver started on port {self.port}")
            
            # 启动接收线程
            self.receive_thread = threading.Thread(target=self._receive_loop, daemon=True)
            self.receive_thread.start()
            
        except Exception as e:
            self.logger.error(f"Failed to start receiver: {e}")
            self.running = False
            raise
    
    def stop(self):
        """停止接收模块"""
        self.running = False
        if self.socket:
            self.socket.close()
        if self.receive_thread:
            self.receive_thread.join(timeout=2)
        self.logger.info("Receiver stopped")
    
    def _receive_loop(self):
        """接收循环"""
        while self.running:
            try:
                # 接收数据（最大1472字节）
                data, remote_addr = self.socket.recvfrom(2048)
                
                self.logger.info(f"Received {len(data)} bytes from {remote_addr}")
                
                try:
                    # 解析控制包
                    packet = ControlPacket.from_bytes(data)
                    self.logger.info(f"Control packet parsed successfully")
                    self.logger.debug(f"  Device: {packet.device_number}")
                    self.logger.debug(f"  Work Mode: {packet.control_data.work_mode}")
                    self.logger.debug(f"  Work Instruction: {packet.control_data.work_instruction}")
                    
                    # 调用回调函数
                    if self.callback:
                        self.callback(packet, remote_addr)
                
                except ValueError as e:
                    self.logger.error(f"Failed to parse control packet: {e}")
                    self.logger.debug(f"Raw data (hex): {data.hex()}")
            
            except socket.timeout:
                continue
            except Exception as e:
                if self.running:
                    self.logger.error(f"Error in receive loop: {e}")
                break
    
    def set_callback(self, callback: Callable):
        """设置接收回调函数"""
        self.callback = callback


if __name__ == '__main__':
    # 配置日志
    logging.basicConfig(level=logging.INFO)
    
    def on_packet_received(packet, remote_addr):
        """处理接收到的包"""
        print(f"\n=== Packet Received from {remote_addr} ===")
        print(f"Device Number: {packet.device_number}")
        print(f"Work Mode: {packet.control_data.work_mode}")
        print(f"Work Instruction: {packet.control_data.work_instruction}")
        print(f"Imaging Mode: {packet.control_data.imaging_mode}")
        print(f"Route Number: {packet.control_data.route_number}")
        print(f"Route Count: {packet.control_data.route_count}")
    
    # 创建并启动接收模块
    receiver = UDPReceiver(callback=on_packet_received)
    receiver.start()
    
    try:
        # 保持运行
        import time
        while True:
            time.sleep(1)
    except KeyboardInterrupt:
        print("\nShutting down...")
        receiver.stop()