測試功能整理 有bug修正中

講解程式先 commit 一版

src/unitdev02/unitdev02/client.py

@@ -0,0 +1,14 @@
+import socket
+
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 建立 socket
+client = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+client.connect(SOCKET_PATH)
+
+# 傳送資料
+client.sendall(b"Hello from client!")
+data = client.recv(1024)
+print("📤 Server replied:", data.decode())
+
+client.close()

src/unitdev02/unitdev02/lifecycle_node.py

@@ -0,0 +1,45 @@
+
+
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import time
+
+# import mavros_msgs.srv
+
+class TalkerNode(Node):
+    def __init__(self):
+        start_time = time.time()
+        super().__init__('talker_node')
+        end_time = time.time()
+        print(f"Node initialization took {end_time - start_time:.2f} seconds")
+
+        self.publisher_ = self.create_publisher(String, 'hahatest/_1', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)  # 每秒執行一次
+        self.get_logger().info('TalkerNode has been started.')
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello, ROS 2!'
+        self.publisher_.publish(msg)
+        self.get_logger().info(f'Published: "{msg.data}"')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TalkerNode()
+
+    print("Before sleep")
+    time.sleep(5)  # 等待 5 秒鐘
+    print("After sleep")
+    try:
+        start_time = time.time()
+        while time.time() - start_time < 10:  # 持續 10 秒鐘
+            rclpy.spin_once(node)
+            time.sleep(1)  # 每秒執行一次
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

src/unitdev02/unitdev02/server.py

@@ -0,0 +1,33 @@
+import socket
+import os
+
+# socket file path
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 若檔案存在就先刪除
+if os.path.exists(SOCKET_PATH):
+    os.remove(SOCKET_PATH)
+
+# 建立 socket
+server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+
+# 綁定 socket 到檔案
+server.bind(SOCKET_PATH)
+server.listen(1)
+
+print("🔌 Server waiting for connection...")
+
+# 等待 client 連線
+conn, _ = server.accept()
+print("✅ Client connected.")
+
+while True:
+    data = conn.recv(1024)
+    if not data:
+        break
+    print("📥 Received:", data.decode())
+    conn.sendall(b"Echo: " + data)
+
+conn.close()
+server.close()
+os.remove(SOCKET_PATH)