96 lines
2.9 KiB
Python
96 lines
2.9 KiB
Python
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#!/usr/bin/python3
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"""
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# @Time : 2025/12/12 11:05
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# @Author : reenrr
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# @File : COM_TCP.py
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# @Desc : TCP客户端
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"""
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import json
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import logging
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import socket
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import threading
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import time
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import Constant
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class TCPClient:
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def __init__(self, ip, port):
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# -------连接状态与错误统计属性-------
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self.error_count=0 # 通信错误计数器（记录连续通信失败次数，用于触发重连逻辑）
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self.connected = False # TCP连接状态
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self.IPAddress = ip
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self.port = port
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self.thread_signal = True # 通信循环运行信号
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self.client_socket = None # TCP套接字对象
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def CreatConnect(self):
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"""
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建立TCP连接方法：创建并初始化TCP套接字，与目标服务端建立网络连接
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若已有连接，先关闭旧连接再创建新连接，避免套接字资源泄露
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"""
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if self.client_socket:
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self.client_socket.close()
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self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.client_socket.settimeout(5)
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self.client_socket.connect((self.IPAddress, self.port))
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def is_Connect(self):
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"""
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检测当前TCP连接是否有效
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"""
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try:
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# 发送空字节流，仅用于检测连接可用性
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self.client_socket.send(b'')
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return True
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except OSError:
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return False
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def run(self):
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"""
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维持TCP长连接，循环执行状态查询和执行发送，实现自动重连
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"""
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while self.thread_signal:
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time.sleep(0.4) # 控制通讯循环频率，避免过于频繁
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self.connected = (self.error_count <= 3)
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try:
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if self.send_Status() and self.send_Command():
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self.error_count = 0
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except Exception as e:
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logging.ERROR(f'COM_TCP: {str(e)}')
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self.error_count += 1
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# 触发自动重连
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if self.error_count> 5:
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print("Error: 机械臂控制程序中TCPClient is not connected")
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try:
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self.CreatConnect()
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logging.INFO(Constant.str_tcp_reconnect)
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except OSError as e1:
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# 捕获套接字特定异常（错误码10056：已存在连接，无法再次连接）
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if e1.errno == 10056:
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self.client_socket.close()
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print("Error: 机械臂控制程序中TCPClient is not connected_1")
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logging.ERROR(Constant.str_tcp_connect_error)
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except Exception as e2:
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print(e2)
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def close(self):
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self.thread_signal = False
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self.client_socket.close()
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def send_Command(self):
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return False
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def send_Status(self):
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return False
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