Python：与 Arduino MKR1000 的套接字通信无法正常工作
Python: Socket communication with Arduino MKR1000 not working properly
我有一个系统，我可以使用 Python 套接字（计算机是服务器）从主机发送命令，MKR1000（客户端）将根据发送的命令发回信息。
不幸的是，双向通信不稳定。我可以保证 MKR1000 收到命令并（可能）发回信息，但由于某些原因，我的主机不会收到命令。
无论如何，这是我第一次尝试套接字，所以我希望一些专家检查我的代码并可能发现这里的错误？非常感谢。
Python:
import socket
import time
def coor2bytes(coor_fnc):
coorByte = [0, 0, 0, 0, 0, 0]
if (coor_fnc[0] >= 0):
coorByte[0] = (coor_fnc[0] >> 8) & 0xFF # High byte of X
coorByte[1] = coor_fnc[0] & 0xFF # Low byte of X
else:
coor_fnc[0] = coor_fnc[0]*(-1)
coorByte[0] = (coor_fnc[0] >> 8) & 0xFF # High byte of X
coorByte[0] = coorByte[0] ^ 0x80
coorByte[1] = coor_fnc[0] & 0xFF # Low byte of X
if (coor_fnc[1] >= 0):
coorByte[2] = (coor_fnc[1] >> 8) & 0xFF # High byte of Y
coorByte[3] = coor_fnc[1] & 0xFF # Low byte of Y
else:
coor_fnc[1] = coor_fnc[1]*(-1)
coorByte[2] = (coor_fnc[1] >> 8) & 0xFF # High byte of X
coorByte[2] = coorByte[2] ^ 0x80
coorByte[3] = coor_fnc[1] & 0xFF # Low byte of X
if (coor_fnc[2] >= 0):
coorByte[4] = (coor_fnc[2] >> 8) & 0xFF # High byte of Phi
coorByte[5] = coor_fnc[2] & 0xFF # Low byte of Phi
else:
coor_fnc[2] = coor_fnc[2]*(-1)
coorByte[4] = (coor_fnc[2] >> 8) & 0xFF # High byte of Phi
coorByte[4] = coorByte[4] ^ 0x80
coorByte[5] = coor_fnc[2] & 0xFF # Low byte of Phi
return coorByte
def bytes2coor(byte_fnc):
receivedCoor_fnc = [0, 0, 0]
receivedCoor_fnc[0] = ((-1)**(byte_fnc[0]>>7)) * ((byte_fnc[1]) | (((byte_fnc[0]&0x7f)<<8)))
receivedCoor_fnc[1] = ((-1)**(byte_fnc[2]>>7)) * ((byte_fnc[3]) | (((byte_fnc[2]&0x7f)<<8)))
receivedCoor_fnc[2] = ((-1)**(byte_fnc[4]>>7)) * ((byte_fnc[5]) | (((byte_fnc[4]&0x7f)<<8)))
return receivedCoor_fnc
if __name__ == '__main__':
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((socket.gethostname(), 1234)) # bind(ip, port)
print("Done binding.")
s.listen(2)
clientsocket, address = s.accept()
print(f"Connection from {address} has been established!")
clientsocket.settimeout(1)
while True:
print();
print("What you want to do?")
print("0. Send target")
print("1. Get current coordinate")
print("2. Set current coordinate (not yet implement)")
try:
a = int(input("I choose: "))
except Exception:
print("Error.")
a = -1;
if (a == 0):
coor = [0, 0, 0]
try:
coor[0] = int(input("X: "))
coor[1] = -int(input("y: "))
coor[2] = int(input("phi: "))
coorByte = coor2bytes(coor)
clientsocket.send(bytes([0]))
clientsocket.send(bytes(coorByte))
print("I already sent the target.")
except Exception:
print("Error.")
elif (a == 1):
receive = 0
while (not receive):
try:
clientsocket.send(bytes([1]))
bytesReceived = []
full_msg = []
while (len(full_msg) < 8):
bytesReceived = clientsocket.recv(8)
for x in range(len(bytesReceived)):
full_msg.append(bytesReceived[x])
receivedCoor = bytes2coor(full_msg)
print("coordinate received: " + str(receivedCoor))
receive = 1
except socket.timeout:
print("Time out. Will try again.")
elif (a == 2):
setCoor = [0, 0, 0]
try:
setCoor[0] = int(input("X: "))
setCoor[1] = -int(input("y: "))
setCoor[2] = int(input("phi: "))
setcoorByte = coor2bytes(setCoor)
clientsocket.send(bytes([2]))
clientsocket.send(bytes(setcoorByte))
print("I already sent the new coordinate.")
except Exception:
print("Error.")
else:
print("Not yet implement.")
Arduino：
#include <WiFi101.h>
#include <SPI.h>
// To connect to the server on laptop
char ssid[] = "iPhone";
char pass[] = "00000000";
int status = WL_IDLE_STATUS;
IPAddress server(172,20,10,3);
WiFiClient client;
// Random variable
int a, i, j, k, m;
byte buf0[7];
byte buf1[7];
byte buf2[7];
long start = millis();
int elapsedTime = 0;
int timeout = 0;
void setup() {
// put your setup code here, to run once:
// Serial.begin(115200);
Serial.begin(115200);
Serial1.begin(115200);
// status = WiFi.begin(ssid, pass);
while (status != WL_CONNECTED) {
status = WiFi.begin(ssid, pass);
}
j = client.connect(server, 1234);
while (j != 1) {
j = client.connect(server, 1234);
}
}
void loop()
{
if (client.available()) {
a = client.read();
Serial.print("I got: ");
Serial.println(a);
if (a == 0) { // Send new target to Due
Serial.println("I send target.");
j = 0;
start = millis();
while(j<6) {
elapsedTime = millis() - start;
if (elapsedTime > 1000) {
timeout = 1;
break;
}
if (client.available()>0) {
buf0[j] = client.read();
Serial.println(buf0[j]);
j++;
}
}
if (timeout != 1) {
Serial1.write((byte) 0);
// Send coordinate back to Due
for (i = 0; i<6; i++) {
Serial1.write(buf0[i]);
}
} else {
timeout = 0;
}
} else if (a == 1) {
// Get the coordinate from the Due
Serial.println("I receive coordinate.");
Serial1.write((byte) 1);
k = 0;
start = millis();
while(k < 6) {
elapsedTime = millis() - start;
if (elapsedTime > 1000) {
timeout = 1;
break;
}
if (Serial1.available() > 0) {
buf1[k] = Serial1.read();
Serial.println(buf1[k]);
k++;
}
}
if (timeout != 1) {
for (i=0;i<6;i++) {
client.write(buf1[i]);
delay(10);
}
client.write((byte) 0); // fill in the blank size
delay(10);
client.write((byte) 0);
} else {
timeout = 0;
}
// for (int i = 0; i<8; i++) {
// client.write((byte) 0);
// }
} else if (a == 2) { // set the current coordinnate to be something else.
Serial.println("I set coordinate.");
m = 0;
while(m<6) {
if (client.available()>0) {
buf2[m] = client.read();
Serial.println(buf2[m]);
m++;
}
}
Serial1.write((byte) 2);
// Send coordinate back to Due
for (i = 0; i<6; i++) {
Serial1.write(buf2[i]);
}
} else if (a == 3) { // identify yourself
Serial.println("Identify myself.");
client.write((byte) 1);
}
}
}
如果您有时间通读 Arduino 代码，那么您会发现我的 MKR 和 Due 之间实际上也有串行通信。我也可以保证 MKR 可以从 Due 接收所有这些数据，而不是陷入无限循环。
谢谢！
好吧，出于某种原因，如果我在 MKR 连接到 WiFi 之后、连接到服务器之前添加延迟，那么一切正常。
我有一个系统，我可以使用 Python 套接字（计算机是服务器）从主机发送命令，MKR1000（客户端）将根据发送的命令发回信息。
不幸的是，双向通信不稳定。我可以保证 MKR1000 收到命令并（可能）发回信息，但由于某些原因，我的主机不会收到命令。
无论如何，这是我第一次尝试套接字，所以我希望一些专家检查我的代码并可能发现这里的错误？非常感谢。
Python:
import socket
import time
def coor2bytes(coor_fnc):
coorByte = [0, 0, 0, 0, 0, 0]
if (coor_fnc[0] >= 0):
coorByte[0] = (coor_fnc[0] >> 8) & 0xFF # High byte of X
coorByte[1] = coor_fnc[0] & 0xFF # Low byte of X
else:
coor_fnc[0] = coor_fnc[0]*(-1)
coorByte[0] = (coor_fnc[0] >> 8) & 0xFF # High byte of X
coorByte[0] = coorByte[0] ^ 0x80
coorByte[1] = coor_fnc[0] & 0xFF # Low byte of X
if (coor_fnc[1] >= 0):
coorByte[2] = (coor_fnc[1] >> 8) & 0xFF # High byte of Y
coorByte[3] = coor_fnc[1] & 0xFF # Low byte of Y
else:
coor_fnc[1] = coor_fnc[1]*(-1)
coorByte[2] = (coor_fnc[1] >> 8) & 0xFF # High byte of X
coorByte[2] = coorByte[2] ^ 0x80
coorByte[3] = coor_fnc[1] & 0xFF # Low byte of X
if (coor_fnc[2] >= 0):
coorByte[4] = (coor_fnc[2] >> 8) & 0xFF # High byte of Phi
coorByte[5] = coor_fnc[2] & 0xFF # Low byte of Phi
else:
coor_fnc[2] = coor_fnc[2]*(-1)
coorByte[4] = (coor_fnc[2] >> 8) & 0xFF # High byte of Phi
coorByte[4] = coorByte[4] ^ 0x80
coorByte[5] = coor_fnc[2] & 0xFF # Low byte of Phi
return coorByte
def bytes2coor(byte_fnc):
receivedCoor_fnc = [0, 0, 0]
receivedCoor_fnc[0] = ((-1)**(byte_fnc[0]>>7)) * ((byte_fnc[1]) | (((byte_fnc[0]&0x7f)<<8)))
receivedCoor_fnc[1] = ((-1)**(byte_fnc[2]>>7)) * ((byte_fnc[3]) | (((byte_fnc[2]&0x7f)<<8)))
receivedCoor_fnc[2] = ((-1)**(byte_fnc[4]>>7)) * ((byte_fnc[5]) | (((byte_fnc[4]&0x7f)<<8)))
return receivedCoor_fnc
if __name__ == '__main__':
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((socket.gethostname(), 1234)) # bind(ip, port)
print("Done binding.")
s.listen(2)
clientsocket, address = s.accept()
print(f"Connection from {address} has been established!")
clientsocket.settimeout(1)
while True:
print();
print("What you want to do?")
print("0. Send target")
print("1. Get current coordinate")
print("2. Set current coordinate (not yet implement)")
try:
a = int(input("I choose: "))
except Exception:
print("Error.")
a = -1;
if (a == 0):
coor = [0, 0, 0]
try:
coor[0] = int(input("X: "))
coor[1] = -int(input("y: "))
coor[2] = int(input("phi: "))
coorByte = coor2bytes(coor)
clientsocket.send(bytes([0]))
clientsocket.send(bytes(coorByte))
print("I already sent the target.")
except Exception:
print("Error.")
elif (a == 1):
receive = 0
while (not receive):
try:
clientsocket.send(bytes([1]))
bytesReceived = []
full_msg = []
while (len(full_msg) < 8):
bytesReceived = clientsocket.recv(8)
for x in range(len(bytesReceived)):
full_msg.append(bytesReceived[x])
receivedCoor = bytes2coor(full_msg)
print("coordinate received: " + str(receivedCoor))
receive = 1
except socket.timeout:
print("Time out. Will try again.")
elif (a == 2):
setCoor = [0, 0, 0]
try:
setCoor[0] = int(input("X: "))
setCoor[1] = -int(input("y: "))
setCoor[2] = int(input("phi: "))
setcoorByte = coor2bytes(setCoor)
clientsocket.send(bytes([2]))
clientsocket.send(bytes(setcoorByte))
print("I already sent the new coordinate.")
except Exception:
print("Error.")
else:
print("Not yet implement.")
Arduino：
#include <WiFi101.h>
#include <SPI.h>
// To connect to the server on laptop
char ssid[] = "iPhone";
char pass[] = "00000000";
int status = WL_IDLE_STATUS;
IPAddress server(172,20,10,3);
WiFiClient client;
// Random variable
int a, i, j, k, m;
byte buf0[7];
byte buf1[7];
byte buf2[7];
long start = millis();
int elapsedTime = 0;
int timeout = 0;
void setup() {
// put your setup code here, to run once:
// Serial.begin(115200);
Serial.begin(115200);
Serial1.begin(115200);
// status = WiFi.begin(ssid, pass);
while (status != WL_CONNECTED) {
status = WiFi.begin(ssid, pass);
}
j = client.connect(server, 1234);
while (j != 1) {
j = client.connect(server, 1234);
}
}
void loop()
{
if (client.available()) {
a = client.read();
Serial.print("I got: ");
Serial.println(a);
if (a == 0) { // Send new target to Due
Serial.println("I send target.");
j = 0;
start = millis();
while(j<6) {
elapsedTime = millis() - start;
if (elapsedTime > 1000) {
timeout = 1;
break;
}
if (client.available()>0) {
buf0[j] = client.read();
Serial.println(buf0[j]);
j++;
}
}
if (timeout != 1) {
Serial1.write((byte) 0);
// Send coordinate back to Due
for (i = 0; i<6; i++) {
Serial1.write(buf0[i]);
}
} else {
timeout = 0;
}
} else if (a == 1) {
// Get the coordinate from the Due
Serial.println("I receive coordinate.");
Serial1.write((byte) 1);
k = 0;
start = millis();
while(k < 6) {
elapsedTime = millis() - start;
if (elapsedTime > 1000) {
timeout = 1;
break;
}
if (Serial1.available() > 0) {
buf1[k] = Serial1.read();
Serial.println(buf1[k]);
k++;
}
}
if (timeout != 1) {
for (i=0;i<6;i++) {
client.write(buf1[i]);
delay(10);
}
client.write((byte) 0); // fill in the blank size
delay(10);
client.write((byte) 0);
} else {
timeout = 0;
}
// for (int i = 0; i<8; i++) {
// client.write((byte) 0);
// }
} else if (a == 2) { // set the current coordinnate to be something else.
Serial.println("I set coordinate.");
m = 0;
while(m<6) {
if (client.available()>0) {
buf2[m] = client.read();
Serial.println(buf2[m]);
m++;
}
}
Serial1.write((byte) 2);
// Send coordinate back to Due
for (i = 0; i<6; i++) {
Serial1.write(buf2[i]);
}
} else if (a == 3) { // identify yourself
Serial.println("Identify myself.");
client.write((byte) 1);
}
}
}
如果您有时间通读 Arduino 代码，那么您会发现我的 MKR 和 Due 之间实际上也有串行通信。我也可以保证 MKR 可以从 Due 接收所有这些数据，而不是陷入无限循环。
谢谢！
好吧，出于某种原因，如果我在 MKR 连接到 WiFi 之后、连接到服务器之前添加延迟，那么一切正常。