modbus_test/utils/test_socket_server.py

import socket
import json

HOST = "127.0.0.1"  # Standard loopback interface address (localhost)
PORT = 9760  # Port to listen on (non-privileged ports are > 1023)

c_angles = [
    {
        "world": [
            1131.959351,
            -588.689941,
            1277.805054,
            6.181231,
            54.227802,
            -100.604988,
        ],
        "axis": [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335],
    },
    {
        "world": [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999],
        "axis": [-8.487, -8.681, 33.058, 88.070, -75.010, -10.566],
    },
    {
        "world": [1630.006, 628.326, 1322.554, 0, 90, 0],
        "axis": [22.493, -30.696, 35.997, -77.419, -23.007, 76.362],
    },
    {
        "world": [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065],
        "axis": [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362],
    },
    {
        "world": [1396.525, 1.687, 1322.697, 0, 90, 0],
        "axis": [0, -0.002, -0.002, 0.003, -0.001, 0],
    },
    {
        "world": [1396.513, 1.758, 1322.749, -0.002, 90, 0],
        "axis": [0.002, -0.001, 0, 0, 0, 0],
    },
    {
        "world": [-1.645, 1396.533, 1322.700, -89.998, 90.000, 0],
        "axis": [89.998, -0.002, -0.001, 0.001, -0.001, -0.001],
    },
    {
        "world": [-61.982, 1.689, 1955.771, 0, 25, 0.003],
        "axis": [0.003, 65, -0.001, 0.001, 0, -0.001],
    },
    {
        "world": [72.252, 1.696, 2450.564, 0, 0, 0],
        "axis": [0.002, -0.001, 89.999, 0.002, 0, -0.001],
    },
    {
        "world": [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003],
        "axis": [0.002, -0.003, 0, 89.999, -0.001, 0],
    },
    {
        "world": [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001],
        "axis": [0.001, -0.002, -0.001, 0.004, 89.998, 0],
    },
    {
        "world": [1396.518, 1.704, 1322.743, 90.002, -0.006, 90],
        "axis": [0, -0.001, 0, 0.002, 0, 90.003],
    },
]
c_angles = [
    {
        "world": [
            894.159973,
            -738.295654,
            782.748047,
            172.274109,
            28.079031,
            120.377357,
        ],
        "axis": [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755],
    },
    {
        "world": [
            1100.071655,
            -347.347412,
            782.754578,
            172.284241,
            28.079557,
            142.505508,
        ],
        "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479],
    },
]
c_small = [
    {
        "world": [549.087, -803.609, 939.418, 125.479, 50.992, 63.257],
        "axis": [-55.721, 12.229, -33.657, 35.030, 0.00, -1.621],
    },
    {
        "world": [202.361, 333.995, 1743.859, -33.7, 40.692, 12.951],
        "axis": [58.637, 41.540, -2.386, -32.975, -0.052, 0.119],
    },
    {
        "world": [915.212, 352.196, 1110.636, -109.839, 55.517, -85.605],
        "axis": [20.987, 14.281, -25.313, -32.976, -0.054, 0.117],
    },
    {
        "world": [915.172, 352.254, 1110.614, 179.937, 78.911, -159.077],
        "axis": [20.986, 14.282, -25.313, -0.102, -0.057, 0.115],
    },
    {
        "world": [1165.135, 1.142, 1312.130, 179.258, 89.223, 179.259],
        "axis": [0.001, -0.299, -0.416, -0.103, -0.059, 0.113],
    },
    {
        "world": [1410.226, 1.123, 1324.733, 0, 90, 0],
        "axis": [0, -20.6, 23.854, -0.001, -3.249, 0.004],
    },

    {
        "world": [943.3, -650.361, 783.806, 103.505, 55.005, 42.234],
        "axis": [-31.249, -8.117, -28.424, 43.951, 36.544, 0.001],
    },
    {
        "world": [721.214, 299.284, 1141.345, -133.593, 37.242, -120.067],
        "axis": [27.053, 27.798, -28.423, -35.215, -41.446, 0.005],
    },
]
c_angles = c_small
coordinates_index = 0


def handle_client(conn, addr):
    print(f"Connected by {addr}")
    try:
        while True:
            data = conn.recv(1024 * 2)
            if not data:
                break
            req = json.loads(data)
            print(req)
            res = {"queryData": ["ok"]}
            global coordinates_index
            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
                print(f"----{coordinates_index}----")
                limit = len(c_angles) - 1
                # limit = 2
                if coordinates_index < limit:
                    coordinates_index += 1
                else:
                    coordinates_index = 0

            c = c_angles[coordinates_index]

            if "queryAddr" in req and "axis-0" in req["queryAddr"]:
                res["queryData"] = c["axis"]

            if "queryAddr" in req and "world-0" in req["queryAddr"]:
                res["queryData"] = c["world"]

            if "reqType" in req and (
                req["reqType"] == "command" or req["reqType"] == "AddRCC"
            ):
                res["cmdReply"] = ["it is local dear"]
            # print(res)
            conn.sendall(json.dumps(res).encode())
    except json.JSONDecodeError as e:
        print(f"JSON decode error: {e}")
    except socket.error as e:
        print(f"Socket error: {e}")
    except Exception as e:
        print(f"Unexpected error: {e}")
    finally:
        conn.close()
        print(f"Connection with {addr} closed")


with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
    s.bind((HOST, PORT))
    s.listen()
    print(f"Server listening on {HOST}:{PORT}")

    while True:
        conn, addr = s.accept()
        handle_client(conn, addr)