137 lines
4.7 KiB
Python
137 lines
4.7 KiB
Python
"""
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模块1：UDP接收模块
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监听38101端口，接收来自主控的控制指令
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"""
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import socket
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import threading
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import logging
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from typing import Callable, Optional
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from data_structures import ControlPacket, CONTROL_RX_PORT
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class UDPReceiver:
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"""UDP接收模块"""
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def __init__(self, local_ip: str = '0.0.0.0', port: int = CONTROL_RX_PORT, callback: Optional[Callable] = None):
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"""
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初始化接收模块
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Args:
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local_ip: 本地监听IP
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port: 监听端口
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callback: 接收到数据后的回调函数，签名为 callback(packet, remote_addr)
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"""
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self.local_ip = local_ip
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self.port = port
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self.callback = callback
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self.socket = None
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self.running = False
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self.receive_thread = None
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# 配置日志
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self.logger = logging.getLogger(f'Module1-Receiver:{port}')
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self.logger.setLevel(logging.INFO)
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if not self.logger.handlers:
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handler = logging.StreamHandler()
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formatter = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
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handler.setFormatter(formatter)
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self.logger.addHandler(handler)
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def start(self):
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"""启动接收模块"""
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if self.running:
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self.logger.warning("Receiver is already running")
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return
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try:
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# 创建UDP套接字
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self.socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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self.socket.bind((self.local_ip, self.port))
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self.running = True
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self.logger.info(f"Receiver started on port {self.port}")
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# 启动接收线程
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self.receive_thread = threading.Thread(target=self._receive_loop, daemon=True)
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self.receive_thread.start()
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except Exception as e:
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self.logger.error(f"Failed to start receiver: {e}")
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self.running = False
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raise
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def stop(self):
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"""停止接收模块"""
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self.running = False
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if self.socket:
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self.socket.close()
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if self.receive_thread:
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self.receive_thread.join(timeout=2)
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self.logger.info("Receiver stopped")
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def _receive_loop(self):
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"""接收循环"""
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while self.running:
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try:
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# 接收数据（最大1472字节）
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data, remote_addr = self.socket.recvfrom(2048)
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self.logger.info(f"Received {len(data)} bytes from {remote_addr}")
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try:
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# 解析控制包
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packet = ControlPacket.from_bytes(data)
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self.logger.info(f"Control packet parsed successfully")
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self.logger.debug(f" Device: {packet.device_number}")
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self.logger.debug(f" Work Mode: {packet.control_data.work_mode}")
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self.logger.debug(f" Work Instruction: {packet.control_data.work_instruction}")
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# 调用回调函数
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if self.callback:
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self.callback(packet, remote_addr)
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except ValueError as e:
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self.logger.error(f"Failed to parse control packet: {e}")
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self.logger.debug(f"Raw data (hex): {data.hex()}")
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except socket.timeout:
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continue
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except Exception as e:
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if self.running:
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self.logger.error(f"Error in receive loop: {e}")
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break
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def set_callback(self, callback: Callable):
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"""设置接收回调函数"""
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self.callback = callback
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if __name__ == '__main__':
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# 配置日志
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logging.basicConfig(level=logging.INFO)
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def on_packet_received(packet, remote_addr):
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"""处理接收到的包"""
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print(f"\n=== Packet Received from {remote_addr} ===")
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print(f"Device Number: {packet.device_number}")
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print(f"Work Mode: {packet.control_data.work_mode}")
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print(f"Work Instruction: {packet.control_data.work_instruction}")
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print(f"Imaging Mode: {packet.control_data.imaging_mode}")
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print(f"Route Number: {packet.control_data.route_number}")
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print(f"Route Count: {packet.control_data.route_count}")
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# 创建并启动接收模块
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receiver = UDPReceiver(callback=on_packet_received)
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receiver.start()
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try:
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# 保持运行
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import time
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while True:
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time.sleep(1)
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except KeyboardInterrupt:
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print("\nShutting down...")
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receiver.stop()
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