#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
# @Time    : 2026/1/9 10:45
# @Author  : reenrr
# @File    : RK1106_server.py
# @Desc    : RK1106服务端，等待工控机调用   通信为JSON格式
'''
import socket
import logging
import sys
import json

from stepper_motor import motor_start, align_wire, cleanup, motor_stop


# ------------日志配置（终端+文件双输出）--------------
logging.basicConfig(
    level=logging.INFO,
    format='%(asctime)s - %(levelname)s - %(message)s',
    # 核心新增：日志文件配置
    handlers=[
        # 1. 文件处理器：保存到.log文件
        logging.FileHandler(
            "RK1106_server.log",   # Buildroot推荐路径，临时测试可改/tmp/1106_server.log
            mode='a',                    # 追加模式（不会覆盖历史日志）
            encoding='utf-8'             # 防止中文乱码（必加）
        ),
        # 2. 终端处理器：输出到控制台
        logging.StreamHandler(sys.stdout)
    ]
)

# --------配置TCP服务端----------
HOST = "192.168.0.100"
PORT = 8888

# 全局参数缓存
MOTOR_CONFIG = {
    "speed": 2500,      # 默认速度
    "cycle": 10.0,      # 默认旋转圈数
}

def handle_setting(para_type: str, para_value: str) ->dict:
    """
    处理客户端发送的参数设置指令（cmd:"setting"），更新全局电机配置
    :param para_type: 要设置的参数类型，仅支持"speed"或"cycle"
    :param para_value: 参数值字符串，将尝试转换为int(speed)或float(cycle)
    :return: 标准化相应字典dict,如：
             {
                 "Result": "1"表示成功，"0"表示失败,
                 "ErrMsg": str     # 成功提示或错误详情
             }
    """
    try:
        if para_type == "speed":
            MOTOR_CONFIG["speed"] = int(para_value)
        elif para_type == "cycle":
            MOTOR_CONFIG["cycle"] = float(para_value)
        else:
            return {"Result": "0", "ErrMsg": f"不支持的参数类型: {para_type}"}
        return {"Result": "1", "ErrMsg": "设置成功"}
    except ValueError as e:
        return {"Result": "0", "ErrMsg": f"参数值格式错误: {str(e)}"}

def handle_start(para_type: str, para_value: str) -> dict:
    """
    处理启动电机指令（cmd: "start"),使用当前MOTOR_CONFIG配置运行电机
    :param para_type:为"direction"时，使用"para_value"作为临时方向
    :param para_value:为0或1
    :return: 标准化相应字典dict,如：
              {
                  "Result": "1"表示成功，"0"表示失败,
                  "ErrMsg": str    #执行结果或异常信息
              }
    """
    try:
        if para_type == "direction":
            direction = int(para_value)
            if direction not in (0,1):
                return {"Result": "0", "ErrMsg": "方向必须为0或1"}

            motor_start(speed=MOTOR_CONFIG["speed"],
                       cycle=MOTOR_CONFIG["cycle"],
                       direction=direction)
            dir_str = "正向" if direction == 1 else "负向"
            return {"Result": "1", "ErrMsg": f"电机启动成功（{dir_str}）"}
        else:
            return {"Result": "0", "ErrMsg": "start 指令仅支持'direction'"}
    except Exception as e:
        return {"Result": "0", "ErrMsg": f"电机启动失败:{str(e)}"}

def handle_stop() -> dict:
    """
    处理停止电机指令（cmd: "stop")
    :return: 标准化相应字典dict,如：
              {
                  "Result": "1"表示成功，"0"表示失败,
                  "ErrMsg": str    #执行结果或异常信息
              }
    """
    try:
        motor_stop()
        return {"Result": "1", "ErrMsg": "电机已停止"}
    except Exception as e:
        return {"Result": "0", "ErrMsg": f"电机停止失败:{str(e)}"}

def handle_align() -> dict:
    """
    处理线条对齐（挡板一来一回）
    :return: dict
    """
    try:
        align_wire(MOTOR_CONFIG['speed'], MOTOR_CONFIG['cycle'])
        return {"Result": "1", "ErrMsg": "处理线条对齐"}
    except Exception as e:
        return {"Result": "0", "ErrMsg": "线条对齐失败"}

def parse_json_command(data: str) -> dict:
    """
    解析客户端发送的原始JSON字符串指令，并分发至对应处理函数
    :param data: 客户端发送的原始JSON字符串
    :return dict:标准化响应字典
    """
    try:
        cmd_obj = json.loads(data.strip())
    except json.JSONDecodeError as e:
        return {"Result": "0", "ErrMsg": f"JSON 格式错误: {str(e)}"}

    cmd = cmd_obj.get("cmd", "").strip()
    para_type = cmd_obj.get("para_type", "").strip()
    para_value = cmd_obj.get("para_value", "").strip()

    if cmd == "setting":
        return handle_setting(para_type, para_value)
    elif cmd == "start":
        return handle_start(para_type, para_value)
    elif cmd == "stop":
        if para_type == "none" and para_value == "none":
            return handle_stop()
        else:
            return {"Result": "0", "ErrMsg": "stop指令参数必须为none"}
    elif cmd == "alignment":
        if para_type == "none" and para_value == "none":
            return handle_align()
        else:
            return {"Result": "0", "ErrMsg": "alignment指令参数必须为none"}
    else:
        return {"Result": "0", "ErrMsg": f"未知指令：{cmd}"}


# ----------对外接口----------
def server():
    """启动TCP服务端，监听指定端口，接收工控机连接并循环处理JSON指令"""
    # 创建TCP socket
    server_socket = None
    conn = None

    try:
        server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        server_socket.bind((HOST, PORT))
        server_socket.listen(1)   # 只允许1个工控机连接
        logging.info(f"[1106] 服务已启动，监听端口：{PORT}，等待工控机连接...")

        while True:   # 持续接受新连接
            try:
                # 等待工控机连接
                conn, addr = server_socket.accept()
                logging.info(f"[1106] 工控机已连接：{addr}")

                # 循环接收指令
                while True:
                    # 接收指令（最大1024字节）
                    data = conn.recv(1024).decode()
                    if not data:
                        logging.warning("客户端断开连接")
                        break

                    logging.info(f"\n[1106] 收到工控机指令：{data}")

                    # 解析指令
                    response_dict = parse_json_command(data)
                    response_json = json.dumps(response_dict, ensure_ascii=False) + "\n"     # 看需不需要加换行符\n

                    # 发送响应给工控机
                    conn.sendall(response_json.encode("utf-8"))
                    logging.info(f"[1106] 已发送响应：{response_json}")

            except ConnectionError:
                logging.info("客户端异常断开")
            except Exception as e:
                logging.info(f"处理连接时发生错误: {e}")
            finally:
                if conn is not None:
                    conn.close()
                    conn = None  # 重置，避免重复关闭
                logging.info("客户端连接已关闭，等待新连接...")

    except KeyboardInterrupt:
        logging.info("\n收到 Ctrl+C，正在关闭服务...")
    finally:
        if server_socket:
            server_socket.close()
        logging.info("服务已停止，监听 socket 已释放")

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