#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
# @Time    : 2026/1/9 10:49
# @Author  : reenrr
# @File    : client.py
# @Desc    : 工具工控机客户端
"""
import socket
import logging
import time

# -------- RK1106配置 ----------
_1106_IP = "127.0.0.1"  # 替换为3506的真实IP（本地测试用127.0.0.1）
_1106_PORT = 8888  # 和3506服务端一致的端口
TIMEOUT = 10  # 通讯超时时间（秒）


class IndustrialPCClient:
    """工控机客户端类，封装与1106的通讯逻辑"""

    def __init__(self, ip: str, port: int, timeout: int = 10):
        self.ip = ip
        self.port = port
        self.timeout = timeout
        self.socket = None  # 通讯socket

    def connect(self) -> bool:
        """连接1106服务端"""
        try:
            # 创建TCP socket
            self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
            self.socket.settimeout(self.timeout)  # 设置超时
            # 连接3506
            self.socket.connect((self.ip, self.port))
            logging.info(f"[工控机] 成功连接1106：{self.ip}:{self.port}")
            return True
        except socket.timeout:
            logging.error(f"[工控机] 连接1106超时（{self.timeout}s）")
            self.close()
            return False
        except ConnectionRefusedError:
            logging.error(f"[工控机] 1106拒绝连接（请检查1106服务是否启动）")
            self.close()
            return False
        except Exception as e:
            logging.error(f"[工控机] 连接1106失败：{str(e)}", exc_info=True)
            self.close()
            return False

    def send_command(self, prog_id: str, **params) -> tuple[bool, str]:
        """
        向1106发送指令
        :param prog_id: 指令标识（如STEPPER_TEST）
        :param params: 指令参数（如speed=50, steps=200）
        :return: (是否成功, 响应信息)
        """
        if not self.socket:
            return False, "未连接1106，请先调用connect()"

        # 构造指令字符串（符合1106解析格式）
        param_str = "&".join([f"{k}={v}" for k, v in params.items()])
        cmd = f"{prog_id}|{param_str}" if param_str else prog_id

        try:
            # 发送指令（UTF-8编码）
            self.socket.sendall(cmd.encode("utf-8"))
            logging.info(f"[工控机] 发送指令：{cmd}")

            # 接收3506响应（最大1024字节）
            resp = self.socket.recv(1024).decode("utf-8", errors="ignore").strip()
            if not resp:
                return False, "未收到1106响应"

            # 解析响应（SUCCESS/FAIL|描述）
            if "|" in resp:
                status, msg = resp.split("|", 1)
                success = status == "SUCCESS"
                logging.info(f"[工控机] 1106响应：{'成功' if success else '失败'} - {msg}")
                return success, msg
            else:
                # 响应格式异常
                logging.warning(f"[工控机] 1106响应格式异常：{resp}")
                return False, f"响应格式错误：{resp}"

        except socket.timeout:
            logging.error(f"[工控机] 发送指令后超时（{self.timeout}s）未收到响应")
            return False, "通讯超时"
        except Exception as e:
            logging.error(f"[工控机] 发送指令失败：{str(e)}", exc_info=True)
            return False, str(e)

    def close(self):
        """关闭连接"""
        if self.socket:
            self.socket.close()
            self.socket = None
            logging.info("[工控机] 已断开与1106的连接")

# ---------对外接口----------
def control_stepper_motor():
    """示例：工控机调用1106的步进电机控制程序"""
    # 初始化客户端
    client = IndustrialPCClient(_1106_IP, _1106_PORT, TIMEOUT)

    # 连接1106
    if not client.connect():
        return

    try:
        # ========== 示例1：无参数调用步进电机测试 ==========
        logging.info("\n===== 无参数调用步进电机测试 =====")
        success, msg = client.send_command("test")
        if not success:
            logging.error(f"调用失败：{msg}")

        time.sleep(2)  # 间隔2秒  可能根据实际效果进行延时调整

    finally:
        # 确保关闭连接
        client.close()

# ---------测试接口----------
if __name__ == "__main__":
    control_stepper_motor()