chore: add ros2 udp_teleop package and tools

.gitignore

@@ -11,9 +11,9 @@
 # ====================
 # ROS 2
 # ====================
-ros2/build/
-ros2/install/
-ros2/log/
+ros2/**/build/
+ros2/**/install/
+ros2/**/log/
 
 # ====================
 # Python

ros2/src/udp_teleop/README.md

@@ -0,0 +1,165 @@
+# udp_teleop — ROS 2 底盘 + 机械臂键盘 UDP 遥控
+
+通过键盘实时控制底盘（差速驱动）和机械臂（6 电机），指令通过 **单一 UDP socket** 发送到设备端。
+
+## 项目结构
+
+```
+ros2/
+├── build/                     # colcon 构建产物（自动生成）
+├── install/                   # colcon 安装产物（自动生成）
+├── log/                       # 构建日志（自动生成）
+└── src/
+    └── udp_teleop/            # ROS 2 包
+        ├── config/
+        │   └── params.yaml        # 可配置参数
+        ├── launch/                # launch 文件（预留）
+        ├── udp_teleop/
+        │   ├── __init__.py
+        │   └── keyboard_control.py  # 键盘遥控节点
+        ├── resource/
+        ├── test/
+        ├── package.xml
+        ├── setup.cfg
+        └── setup.py
+```
+
+## 环境搭建
+
+### 1. 安装 Conda
+
+使用 Miniconda 或 Anaconda。推荐 Miniconda：
+
+```bash
+# 下载并安装 Miniconda
+wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
+bash Miniconda3-latest-Linux-x86_64.sh
+```
+
+### 2. 创建 ROS 2 Humble 环境
+
+使用 robostack 频道安装 ROS 2 Humble Desktop 完整版：
+
+```bash
+conda create -n ros2_humble -c robostack-staging -c conda-forge ros-humble-desktop
+```
+
+### 3. 安装构建工具
+
+```bash
+conda activate ros2_humble
+conda install -c robostack-staging -c conda-forge \
+    colcon-common-extensions \
+    ros-humble-ament-cmake \
+    python3-pip
+```
+
+### 4. 安装 Python 依赖
+
+```bash
+pip install pynput
+```
+
+### 5. 激活环境
+
+每次使用前：
+
+```bash
+conda activate ros2_humble
+source /path/to/ros2/install/setup.bash   # 首次构建后执行
+```
+
+## 构建
+
+```bash
+cd ros2
+colcon build --symlink-install --packages-select udp_teleop
+source install/setup.bash
+```
+
+> `--symlink-install`：修改 Python 源文件后无需重新构建，直接生效。
+
+## 运行
+
+### 使用参数文件（推荐）
+
+```bash
+ros2 run udp_teleop keyboard_control \
+    --ros-args --params-file src/udp_teleop/config/params.yaml
+```
+
+### 命令行覆盖参数
+
+```bash
+ros2 run udp_teleop keyboard_control \
+    --ros-args -p udp_ip:=192.168.1.100 -p udp_port:=9999
+```
+
+## 按键映射
+
+### 底盘控制
+
+| 按键 | 功能 |
+|------|------|
+| `W` / `S` | 前进 / 后退 |
+| `A` / `D` | 左移 / 右移 |
+| `Q` / `E` | 左转 / 右转 |
+
+### 机械臂控制
+
+| 按键 | 功能 |
+|------|------|
+| `↑` / `↓` | 升降高度（↑ 升高，↓ 降低） |
+| `2` ~ `6` | 选择关节 J2 ~ J6 |
+| `←` / `→` | 减小 / 增大当前关节角度 |
+
+> 底盘和机械臂可以**同时操控**。机械臂指令仅在按下机械臂相关按键后发送。
+
+### 其他
+
+| 按键 | 功能 |
+|------|------|
+| `Ctrl+C` | 退出并发送底盘停止指令 |
+
+## UDP 协议
+
+### 底盘指令
+
+```
+XYW:<X速度>:<Y速度>:<W角速度>:XZHY\n
+```
+
+### 机械臂指令
+
+```
+JXB:<高度>:<J2>:<J3>:<J4>:<J5>:<J6>:0:0:EZHY\n
+```
+
+- 6 个电机：电机 1 控制高度，电机 2~6 对应关节 J2~J6
+- 末尾补零至 8 个值
+
+## 参数配置
+
+| 参数 | 默认值 | 说明 |
+|------|--------|------|
+| `udp_ip` | `127.0.0.1` | UDP 目标 IP 地址 |
+| `udp_port` | `8888` | UDP 目标端口 |
+| `chassis_linear_speed` | `100` | 底盘线速度 |
+| `chassis_angular_speed` | `45` | 底盘角速度 |
+| `arm_height_step` | `5` | 高度每步变化量 |
+| `arm_joint_step` | `5` | 关节角度每步变化量 |
+| `update_rate` | `0.05` | 控制循环周期（秒） |
+| `stdin_hold_time` | `0.04` | 按键持续时间（秒），修复箭头键时序问题 |
+| `debug_keys` | `false` | 是否在状态行显示当前按键 |
+| `keyboard_backend` | `auto` | 键盘后端：`auto` / `stdin` / `pynput` / `win_poll` |
+
+## 键盘后端
+
+| 后端 | 说明 |
+|------|------|
+| `auto` | 自动选择：Linux/macOS 用 `stdin`，Windows 用 `win_poll` |
+| `stdin` | 基于终端原始输入，无需额外依赖，**需要交互终端** |
+| `pynput` | 基于 pynput 库，跨平台，需要 `pip install pynput` |
+| `win_poll` | Windows 专用，通过 Win32 API 轮询按键状态 |
+
+> `ros2 launch` 启动的子进程**没有交互终端**，使用 `stdin` 后端会报错。必须通过 `ros2 run` 在终端直接运行。

ros2/src/udp_teleop/config/params.yaml

@@ -0,0 +1,12 @@
+keyboard_udp_control:
+  ros__parameters:
+    udp_ip: "127.0.0.1"
+    udp_port: 8888
+    chassis_linear_speed: 100
+    chassis_angular_speed: 45
+    arm_height_step: 5
+    arm_joint_step: 5
+    update_rate: 0.05
+    debug_keys: false
+    keyboard_backend: "auto"
+    stdin_hold_time: 0.04

ros2/src/udp_teleop/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>udp_teleop</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="fallensigh@gmail.com">fallensigh</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2/src/udp_teleop/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/udp_teleop
+[install]
+install_scripts=$base/lib/udp_teleop

ros2/src/udp_teleop/setup.py

@@ -0,0 +1,35 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'udp_teleop'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'config'),
+            glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='fallensigh',
+    maintainer_email='fallensigh@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'keyboard_control = udp_teleop.keyboard_control:main'
+        ],
+    },
+)

ros2/src/udp_teleop/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2/src/udp_teleop/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2/src/udp_teleop/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

ros2/src/udp_teleop/udp_teleop/keyboard_control.py

@@ -0,0 +1,411 @@
+import os
+import socket
+import sys
+import threading
+import time
+
+import rclpy
+from rclpy.node import Node
+
+try:
+    from pynput import keyboard
+except ImportError:
+    keyboard = None
+
+if sys.platform == "win32":
+    import ctypes
+
+    user32 = ctypes.WinDLL("user32", use_last_error=True)
+else:
+    user32 = None
+
+if sys.platform != "win32":
+    import atexit
+    import select
+    import termios
+    import tty
+else:
+    atexit = None
+    select = None
+    termios = None
+    tty = None
+
+
+KEY_UP = "up"
+KEY_DOWN = "down"
+KEY_LEFT = "left"
+KEY_RIGHT = "right"
+
+WIN_KEY_CODES = {
+    "w": 0x57,
+    "a": 0x41,
+    "s": 0x53,
+    "d": 0x44,
+    "q": 0x51,
+    "e": 0x45,
+    "2": 0x32,
+    "3": 0x33,
+    "4": 0x34,
+    "5": 0x35,
+    "6": 0x36,
+    "up": 0x26,
+    "down": 0x28,
+    "left": 0x25,
+    "right": 0x27,
+}
+
+
+class KeyboardUdpControlNode(Node):
+    """ROS 2 node that sends chassis and arm UDP commands while keys are held."""
+
+    def __init__(self):
+        super().__init__("keyboard_udp_control")
+
+        self.declare_parameter("udp_ip", "192.168.233.67")
+        self.declare_parameter("udp_port", 8888)
+        self.declare_parameter("chassis_linear_speed", 100)
+        self.declare_parameter("chassis_angular_speed", 45)
+        self.declare_parameter("arm_height_step", 5)
+        self.declare_parameter("arm_joint_step", 5)
+        self.declare_parameter("update_rate", 0.05)
+        self.declare_parameter("debug_keys", False)
+        self.declare_parameter("keyboard_backend", "auto")
+        self.declare_parameter("stdin_hold_time", 0.04)
+
+        self.udp_ip = self.get_parameter("udp_ip").value
+        self.udp_port = int(self.get_parameter("udp_port").value)
+        self.chassis_linear_speed = int(
+            self.get_parameter("chassis_linear_speed").value
+        )
+        self.chassis_angular_speed = int(
+            self.get_parameter("chassis_angular_speed").value
+        )
+        self.arm_height_step = int(self.get_parameter("arm_height_step").value)
+        self.arm_joint_step = int(self.get_parameter("arm_joint_step").value)
+        self.update_rate = float(self.get_parameter("update_rate").value)
+        self.debug_keys = bool(self.get_parameter("debug_keys").value)
+        self.keyboard_backend = str(self.get_parameter("keyboard_backend").value)
+        self.stdin_hold_time = float(self.get_parameter("stdin_hold_time").value)
+        self.use_windows_polling = self.should_use_windows_polling()
+        self.use_stdin_keyboard = self.should_use_stdin_keyboard()
+
+        self.chassis_x = 0
+        self.chassis_y = 0
+        self.chassis_w = 0
+
+        self.arm_height = -10
+        self.arm_joints = [0] * 5
+        self.arm_selected_joint = 0
+        self.arm_active = False
+
+        self.pressed_keys = set()
+        self.stdin_key_times = {}
+        self.key_lock = threading.Lock()
+        self.old_terminal_settings = None
+
+        self._stdin_buf = ""
+
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+        self.listener = None
+        if self.use_windows_polling:
+            self.get_logger().info("Using Windows keyboard polling backend.")
+        elif self.use_stdin_keyboard:
+            self.enable_stdin_keyboard()
+            self.get_logger().info("Using stdin keyboard backend.")
+        else:
+            if keyboard is None:
+                raise RuntimeError("pynput is required for keyboard_backend:=pynput.")
+            self.listener = keyboard.Listener(
+                on_press=self.on_press,
+                on_release=self.on_release,
+            )
+            self.listener.start()
+            self.get_logger().info("Using pynput keyboard listener backend.")
+
+        self.timer = self.create_timer(self.update_rate, self.control_tick)
+
+        self.print_help()
+        self.get_logger().info(
+            f"UDP target: {self.udp_ip}:{self.udp_port}"
+        )
+        self.get_logger().info(
+            "Keyboard UDP control node started. Press Ctrl+C to exit."
+        )
+
+    def on_press(self, key):
+        try:
+            value = key.char.lower() if key.char else key.char
+        except AttributeError:
+            value = key
+
+        with self.key_lock:
+            self.pressed_keys.add(value)
+
+    def on_release(self, key):
+        try:
+            value = key.char.lower() if key.char else key.char
+        except AttributeError:
+            value = key
+
+        with self.key_lock:
+            self.pressed_keys.discard(value)
+
+    def should_use_windows_polling(self):
+        if self.keyboard_backend == "win_poll":
+            return True
+        if self.keyboard_backend in ("pynput", "stdin"):
+            return False
+        return sys.platform == "win32" and user32 is not None
+
+    def should_use_stdin_keyboard(self):
+        if self.keyboard_backend == "stdin":
+            return True
+        if self.keyboard_backend in ("pynput", "win_poll"):
+            return False
+        return sys.platform != "win32"
+
+    def enable_stdin_keyboard(self):
+        if not sys.stdin.isatty():
+            raise RuntimeError("stdin keyboard backend requires an interactive terminal.")
+
+        self.old_terminal_settings = termios.tcgetattr(sys.stdin)
+        tty.setcbreak(sys.stdin.fileno())
+        atexit.register(self.restore_terminal)
+
+    def get_pressed_keys(self):
+        if self.use_windows_polling:
+            return self.get_windows_pressed_keys()
+        if self.use_stdin_keyboard:
+            return self.get_stdin_pressed_keys()
+
+        with self.key_lock:
+            return set(self.pressed_keys)
+
+    def get_windows_pressed_keys(self):
+        keys = set()
+        for key_name, key_code in WIN_KEY_CODES.items():
+            if user32.GetAsyncKeyState(key_code) & 0x8000:
+                keys.add(key_name)
+
+        return keys
+
+    _ALLOWED_SINGLE_KEYS = frozenset(
+        {"w", "a", "s", "d", "q", "e", "2", "3", "4", "5", "6"}
+    )
+    _ARROW_MAP = {"A": KEY_UP, "B": KEY_DOWN, "C": KEY_RIGHT, "D": KEY_LEFT}
+
+    def get_stdin_pressed_keys(self):
+        now = time.monotonic()
+        fd = sys.stdin.fileno()
+
+        raw = b""
+        while select.select([sys.stdin], [], [], 0)[0]:
+            chunk = os.read(fd, 4096)
+            if not chunk:
+                break
+            raw += chunk
+
+        buf = self._stdin_buf + raw.decode("utf-8", errors="replace")
+
+        i = 0
+        n = len(buf)
+        while i < n:
+            ch = buf[i]
+
+            if ch == "\x03":
+                raise KeyboardInterrupt
+
+            if ch == "\x1b":
+                # Only handle when we have the full 3-byte escape.
+                if i + 2 < n and buf[i + 1] in ("[", "O"):
+                    arrow = buf[i + 2]
+                    key = self._ARROW_MAP.get(arrow)
+                    if key is not None:
+                        self.stdin_key_times[key] = now
+                        i += 3
+                        continue
+                # Incomplete / unknown escape — leave remainder for next tick.
+                break
+
+            ch_lower = ch.lower()
+            if ch_lower in self._ALLOWED_SINGLE_KEYS:
+                self.stdin_key_times[ch_lower] = now
+            i += 1
+
+        self._stdin_buf = buf[i:]
+
+        expired_keys = [
+            key
+            for key, last_time in self.stdin_key_times.items()
+            if now - last_time > self.stdin_hold_time
+        ]
+        for key in expired_keys:
+            del self.stdin_key_times[key]
+
+        return set(self.stdin_key_times.keys())
+
+    def is_arm_key_pressed(self, keys):
+        return (
+            KEY_UP in keys
+            or KEY_DOWN in keys
+            or KEY_LEFT in keys
+            or KEY_RIGHT in keys
+            or any(str(i) in keys for i in range(2, 7))
+        )
+
+    def update_state(self, keys):
+        self.chassis_x = 0
+        self.chassis_y = 0
+        self.chassis_w = 0
+
+        if "w" in keys:
+            self.chassis_y = -self.chassis_linear_speed
+        if "s" in keys:
+            self.chassis_y = self.chassis_linear_speed
+        if "d" in keys:
+            self.chassis_x = self.chassis_linear_speed
+        if "a" in keys:
+            self.chassis_x = -self.chassis_linear_speed
+        if "e" in keys:
+            self.chassis_w = self.chassis_angular_speed
+        if "q" in keys:
+            self.chassis_w = -self.chassis_angular_speed
+
+        arm_changed = False
+
+        for i in range(2, 7):
+            if str(i) in keys:
+                self.arm_selected_joint = i - 2
+                arm_changed = True
+
+        if KEY_UP in keys:
+            self.arm_height = min(self.arm_height + self.arm_height_step, -10)
+            arm_changed = True
+        if KEY_DOWN in keys:
+            self.arm_height = max(self.arm_height - self.arm_height_step, -280)
+            arm_changed = True
+
+        joint_index = self.arm_selected_joint
+        if KEY_RIGHT in keys:
+            self.arm_joints[joint_index] = min(
+                self.arm_joints[joint_index] + self.arm_joint_step,
+                180,
+            )
+            arm_changed = True
+        if KEY_LEFT in keys:
+            self.arm_joints[joint_index] = max(
+                self.arm_joints[joint_index] - self.arm_joint_step,
+                -180,
+            )
+            arm_changed = True
+
+        if arm_changed:
+            self.arm_active = True
+
+    def build_chassis_cmd(self):
+        return f"XYW:{self.chassis_x}:{self.chassis_y}:{self.chassis_w}:XZHY\n".encode()
+
+    def build_arm_cmd(self):
+        joints = self.arm_joints
+        return (
+            f"JXB:{self.arm_height}:"
+            f"{joints[0]}:{joints[1]}:{joints[2]}:"
+            f"{joints[3]}:{joints[4]}:0:0:EZHY\n"
+        ).encode()
+
+    def control_tick(self):
+        keys = self.get_pressed_keys()
+        self.update_state(keys)
+
+        self.sock.sendto(
+            self.build_chassis_cmd(),
+            (self.udp_ip, self.udp_port),
+        )
+
+        if self.arm_active or self.is_arm_key_pressed(keys):
+            self.sock.sendto(self.build_arm_cmd(), (self.udp_ip, self.udp_port))
+
+        self.print_status(keys)
+
+    def print_status(self, keys):
+        selected_joint = self.arm_selected_joint + 2
+        joints = self.arm_joints
+        key_text = ""
+        if self.debug_keys:
+            key_text = "  Keys:" + ",".join(self.format_key(key) for key in keys)
+
+        status = (
+            f"\rChassis X:{self.chassis_x:>4}  Y:{self.chassis_y:>4}  "
+            f"W:{self.chassis_w:>4}  |  "
+            f"Arm H:{self.arm_height:>4}mm  J{selected_joint}:"
+            f"[{joints[0]:>4} {joints[1]:>4} {joints[2]:>4} "
+            f"{joints[3]:>4} {joints[4]:>4}]  "
+            f"{'[ARM]' if self.arm_active else '[STANDBY]'}"
+            f"{key_text}"
+        )
+        print(status, end="", flush=True)
+
+    def format_key(self, key):
+        if isinstance(key, str):
+            return key
+        return str(key).replace("Key.", "")
+
+    def send_stop(self):
+        self.sock.sendto(
+            b"XYW:0:0:0:XZHY\n",
+            (self.udp_ip, self.udp_port),
+        )
+
+    def destroy_node(self):
+        self.send_stop()
+
+        if self.listener is not None and self.listener.running:
+            self.listener.stop()
+        self.restore_terminal()
+
+        self.sock.close()
+
+        print("\nSent chassis stop command.")
+        super().destroy_node()
+
+    def restore_terminal(self):
+        if self.old_terminal_settings is not None:
+            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.old_terminal_settings)
+            self.old_terminal_settings = None
+
+    def print_help(self):
+        print("=" * 62)
+        print("  ROS 2 chassis + arm keyboard UDP control")
+        print("=" * 62)
+        print("  Chassis:")
+        print("    W/S    forward / backward")
+        print("    A/D    left / right")
+        print("    Q/E    turn left / turn right")
+        print("  Arm:")
+        print("    Up/Down  lift up / down")
+        print("    2 ~ 6    select joint J2 ~ J6")
+        print("    Lt/Rt    decrease / increase selected joint angle")
+        print("  Other:")
+        print("    Ctrl+C   exit and send chassis stop command")
+        print("=" * 62)
+        print("  Arm commands are sent only after pressing an arm key.")
+        print("  Make sure the arm pose matches the initial values.")
+        print("=" * 62)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = KeyboardUdpControlNode()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

tools/udp_server.py

@@ -0,0 +1,22 @@
+import socket
+
+# 创建 UDP socket
+server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+# 绑定地址和端口
+HOST = "0.0.0.0"
+PORT = 8888
+
+server.bind((HOST, PORT))
+
+print(f"UDP服务器正在监听 {HOST}:{PORT}")
+
+while True:
+    # 接收数据
+    data, addr = server.recvfrom(1024)
+
+    print(f"收到来自 {addr} 的消息: {data.decode()}")
+
+    # 回复客户端
+    reply = "服务器已收到"
+    server.sendto(reply.encode(), addr)