add socket demo

Author: anla-xu

demo/Client.py

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+# coding:utf-8
+# // An highlighted block
+import traceback
+import socket
+import time
+import sys
+# RPi's IP
+SERVER_IP = "192.168.10.115"  # 输入正确的目标ip地址，请查看树莓派ip
+SERVER_PORT = 9000
+
+print("Starting socket: TCP...")
+
+print("Please input!")
+sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+sock.connect((SERVER_IP, SERVER_PORT))  # 打开链接
+444
+sock.sendall(str.encode("12312"))
+received = sock.recv(1024)
+print("read: " + received.decode())
+while True:
+    try:
+        #
+        # if len(data)>0:
+        command = input()
+        command += '\n'
+        print("send: " + command)
+        try:
+            sock.sendall(str.encode(command))
+            received = sock.recv(1024)
+            print("read: " + received.decode())
+        except ConnectionRefusedError:
+            print('error')
+            sock.close()
+            pass
+        except BlockingIOError:
+            pass
+        except:
+            pass
+
+    except Exception:
+        # print("exception")
+        print(traceback.format_exc())
+        sys.exit(1)

demo/REMADE.md

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+# 使用说明
+## 使用说明
+* "Client.py"是客户端的样例，使用在电脑中
+* "Servo.py"是服务器端的执行文件，使用前要修改对应的ip地址信息，防止设备无法连接
+## 参考内容
+* [Socket 使用解析](https://blog.csdn.net/pashanhu6402/article/details/96428887?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162392592016780357215629%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=162392592016780357215629&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-1-96428887.first_rank_v2_pc_rank_v29&utm_term=socket&spm=1018.2226.3001.4187)
+
+* [mycobot 使用说明](https://www.elephantrobotics.com/docs/myCobot/)
+
+* [Scoket 函数解析](https://www.runoob.com/python/python-socket.html)

demo/Server.py

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+import time
+import socketserver
+from pymycobot.mycobot import MyCobot
+import numpy as np
+
+
+class TCPMessageHandler(socketserver.StreamRequestHandler):
+
+    def handle(self):
+        """
+        Process socket data
+
+        """
+        # process received data.
+        while True:
+            try:
+                # data=bytes.decode(self.rfile.readline().strip())
+                data = bytes.decode(self.request.recv(1024))
+                print(data)
+            except Exception as ex:
+                print(ex)
+                return
+
+            data = data.split(',')
+            commend = []
+
+            for dt in data:
+                try:
+                    if dt.isdigit():
+                        commend.append(int(dt))
+                    else:
+                        commend.append(float(dt))
+                except ValueError:
+                    commend.append(None)
+
+            if len(commend) > 0:
+                print("Received:%s" % commend)
+                self.request.sendall(str.encode(str(commend)))
+
+
+class SocketServer(object):
+    def __init__(self, host, port):
+        super().__init__()
+        self.host = host
+        self.port = port
+
+    def start_server(self):
+        while True:
+            try:
+                server = socketserver.TCPServer((self.host, self.port),
+                                                TCPMessageHandler)
+                break
+            except:
+                time.sleep(1)
+                continue
+        try:
+            print("server open seccess")
+            server.serve_forever()
+
+        finally:
+            print("server close")
+            server.server_close()
+
+
+class Robot(object):
+    def __init__(self, serial, baud):
+        super().__init__()
+        self.serial = serial
+        self.baud = baud
+
+    def start_Robot(self):
+        try:
+            mc = MyCobot(self.serial, self.baud)  # 树莓派版本打开机械臂，串口固定，无需USB连接
+            print(mc)  # 打印机械臂端口信息
+        except:
+            print("can not find cobot")
+            exit(0)
+
+
+if __name__ == "__main__":
+    host = '192.168.10.191'  # 输入本机IP地址
+    port = 9000
+    serial = ''
+    baud = 1000000
+    server = SocketServer(host, port)  # 声明服务器端口
+    mycobot = Robot(serial, baud)  # 声明机械臂接口
+    server.start_server()  # 永久打开服务器