#!/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