看机械臂代码，添加备注代码

robot/COM_TCP.py

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+#!/usr/bin/python3
+"""
+# @Time    : 2025/12/12 11:05
+# @Author  : reenrr
+# @File    : COM_TCP.py
+# @Desc    : TCP客户端
+"""
+import json
+import logging
+import socket
+import threading
+import time
+import Constant
+
+class TCPClient:
+    def __init__(self, ip, port):
+        # -------连接状态与错误统计属性-------
+        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）
+        self.connected = False    # TCP连接状态
+
+        self.IPAddress = ip
+        self.port = port
+
+        self.thread_signal = True   # 通信循环运行信号
+        self.client_socket = None   # TCP套接字对象
+
+    def CreatConnect(self):
+        """
+        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
+        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
+        """
+        if self.client_socket:
+            self.client_socket.close()
+        self.client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.client_socket.settimeout(5)
+        self.client_socket.connect((self.IPAddress, self.port))
+
+
+    def is_Connect(self):
+        """
+        检测当前TCP连接是否有效
+        """
+        try:
+            # 发送空字节流，仅用于检测连接可用性
+            self.client_socket.send(b'')
+            return True
+        except OSError:
+            return False
+
+
+    def run(self):
+        """
+        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
+        """
+        while self.thread_signal:
+            time.sleep(0.4)   # 控制通讯循环频率，避免过于频繁
+            self.connected = (self.error_count <= 3)
+
+            try:
+                if self.send_Status() and self.send_Command():
+                    self.error_count = 0
+
+            except Exception as e:
+                logging.ERROR(f'COM_TCP: {str(e)}')
+                self.error_count += 1
+
+            # 触发自动重连
+            if self.error_count> 5:
+                print("Error: 机械臂控制程序中TCPClient is not connected")
+
+                try:
+                    self.CreatConnect()
+                    logging.INFO(Constant.str_tcp_reconnect)
+
+                except OSError as e1:
+                    # 捕获套接字特定异常（错误码10056：已存在连接，无法再次连接）
+                    if e1.errno == 10056:
+                        self.client_socket.close()
+                        print("Error: 机械臂控制程序中TCPClient is not connected_1")
+                        logging.ERROR(Constant.str_tcp_connect_error)
+                except Exception as e2:
+                    print(e2)
+
+    def close(self):
+        self.thread_signal = False
+        self.client_socket.close()
+
+    def send_Command(self):
+        return False
+
+    def send_Status(self):
+        return False
+
+
+