archery/network.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
网络通信模块
提供TCP通信、数据包打包/解析、队列管理等功能
"""
import json
from math import e
import struct
from maix import time
import hmac
import hashlib
import ujson
import os
import threading
import socket
import config

from hardware import hardware_manager
from power import get_bus_voltage, voltage_to_percent
# from laser import laser_manager
# from ota import ota_manager
from logger_manager import logger_manager


class NetworkManager:
    """网络通信管理器（单例）"""
    _instance = None
    
    def __new__(cls):
        if cls._instance is None:
            cls._instance = super(NetworkManager, cls).__new__(cls)
            cls._instance._initialized = False
        return cls._instance
    
    def __init__(self):
        if self._initialized:
            return
        
        # 私有状态
        self._tcp_connected = False
        self._high_send_queue = []
        self._normal_send_queue = []
        self._queue_lock = threading.Lock()
        self._send_event = threading.Event()
        self._uart4g_lock = threading.Lock()
        self._device_id = None
        self._password = None
        self._raw_line_data = []
        self._manual_trigger_flag = False
        
        # WiFi 相关状态
        self._network_type = None  # "wifi" 或 "4g" 或 None
        self._wifi_connected = False
        self._wifi_ip = None
        self._wifi_socket = None
        self._wifi_socket_lock = threading.Lock()
        self._prefer_wifi = True  # 是否优先使用WiFi
        self._wifi_recv_buffer = b""  # WiFi接收缓冲区
        self._initialized = True

        # 导入 archery_netcore 模块，并检查是否存在 parse_packet 和 make_packet 函数
        try:
            import archery_netcore as _netcore
            self._netcore = _netcore
            if hasattr(self._netcore, "parse_packet") and hasattr(self._netcore, "make_packet") and hasattr(self._netcore, "actions_for_inner_cmd"):
                print("[NET] archery_netcore found")
            else:
                print("[NET] archery_netcore not found parse_packet or make_packet")
                exit(1)
        except Exception:
            print("[NET] import archery_netcore failed")
            exit(1)

        # 服务器相关
        self._server_ip = self._netcore.get_config().get("SERVER_IP")
        self._server_port = self._netcore.get_config().get("SERVER_PORT")
    
    # ==================== 状态访问（只读属性）====================
    
    @property
    def logger(self):
        """获取 logger 对象"""
        return logger_manager.logger
    
    @property
    def tcp_connected(self):
        """TCP连接状态"""
        return self._tcp_connected
    
    @property
    def device_id(self):
        """设备ID"""
        return self._device_id
    
    @property
    def password(self):
        """密码"""
        return self._password
    
    @property
    def has_pending_messages(self):
        """是否有待发送消息"""
        with self._queue_lock:
            return len(self._high_send_queue) > 0 or len(self._normal_send_queue) > 0
    
    @property
    def manual_trigger_flag(self):
        """手动触发标志"""
        return self._manual_trigger_flag
    
    @property
    def network_type(self):
        """当前使用的网络类型（"wifi" 或 "4g"）"""
        return self._network_type
    
    @property
    def wifi_connected(self):
        """WiFi是否已连接"""
        return self._wifi_connected
    
    @property
    def wifi_ip(self):
        """WiFi IP地址"""
        return self._wifi_ip

    # ==================== 内部状态管理方法 ====================

    
    def set_manual_trigger(self, value=True):
        """设置手动触发标志（公共方法）"""
        self._manual_trigger_flag = value
    
    def clear_manual_trigger(self):
        """清除手动触发标志（公共方法）"""
        self._manual_trigger_flag = False

    def _set_tcp_connected(self, connected):
        """设置TCP连接状态（内部方法）"""
        self._tcp_connected = connected
    
    def _set_device_info(self, device_id, password):
        """设置设备信息（内部方法）"""
        self._device_id = device_id
        self._password = password
    
    def _enqueue(self, item, high=False):
        """线程安全地加入队列（内部方法）"""
        with self._queue_lock:
            if high:
                self._high_send_queue.append(item)
            else:
                self._normal_send_queue.append(item)
        self._send_event.set()
    
    def _dequeue(self):
        """线程安全地从队列取出（内部方法）"""
        with self._queue_lock:
            if self._high_send_queue:
                return self._high_send_queue.pop(0)
            elif self._normal_send_queue:
                return self._normal_send_queue.pop(0)
            return None
    
    def _set_raw_line_data(self, data):
        """设置原始行数据（内部方法）"""
        self._raw_line_data = data
    
    def _get_raw_line_data(self):
        """获取原始行数据（内部方法）"""
        return self._raw_line_data
    
    def get_uart_lock(self):
        """获取UART锁（用于with语句）"""
        return self._uart4g_lock
    
    def get_queue_lock(self):
        """获取队列锁（用于with语句）"""
        return self._queue_lock
    
    # ==================== 业务方法 ====================
    
    def read_device_id(self):
        """从 /device_key 文件读取设备唯一 ID，失败则使用默认值"""
        try:
            with open("/device_key", "r") as f:
                device_id = f.read().strip()
                if device_id:
                    self.logger.debug(f"[INFO] 从 /device_key 读取到 DEVICE_ID: {device_id}")
                    # 设置内部状态
                    self._device_id = device_id
                    self._password = device_id + "."
                    return device_id
        except Exception as e:
            self.logger.error(f"[ERROR] 无法读取 /device_key: {e}")
        
        # 使用默认值
        default_id = "DEFAULT_DEVICE_ID"
        self._device_id = default_id
        self._password = default_id + "."
        return default_id
    
    # ==================== WiFi 管理方法 ====================
    
    def is_wifi_connected(self):
        """检查WiFi是否已连接"""
        # 优先用 MaixPy network（如果可用）
        try:
            from maix import network
            wlan = network.WLAN(network.TYPE_WIFI)
            if wlan.isconnected():
                self._wifi_connected = True
                return True
        except:
            pass
        
        # 兜底：看系统 wlan0 有没有 IP
        try:
            ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
            if ip:
                self._wifi_connected = True
                self._wifi_ip = ip
                return True
        except:
            pass
        
        self._wifi_connected = False
        return False
    
    def connect_wifi(self, ssid, password, verify_host=None, verify_port=None, persist=True, timeout_s=20):
        """
        连接 Wi-Fi（先用新凭证尝试连接并验证可用性；失败自动回滚；成功后再决定是否落盘）
        
        重要：系统的 /etc/init.d/S30wifi 通常会读取 /boot/wifi.ssid 与 /boot/wifi.pass 来连接 WiFi。
        因此要“真正尝试连接新 WiFi”，必须临时写入 /boot/ 触发重启；若失败则把旧值写回去（回滚）。
        
        Returns:
            (ip, error): IP地址和错误信息（成功时error为None）
        """

        # 配置文件路径定义
        conf_path = "/etc/wpa_supplicant.conf"
        ssid_file = "/boot/wifi.ssid"
        pass_file = "/boot/wifi.pass"

        def _read_text(path: str):
            try:
                if os.path.exists(path):
                    with open(path, "r", encoding="utf-8") as f:
                        return f.read()
            except Exception:
                return None
            return None

        def _write_text(path: str, content: str):
            with open(path, "w", encoding="utf-8") as f:
                f.write(content)

        def _restore_boot(old_ssid: str | None, old_pass: str | None):
            # 还原 /boot 凭证：原来没有就删除，原来有就写回
            try:
                if old_ssid is None:
                    if os.path.exists(ssid_file):
                        os.remove(ssid_file)
                else:
                    _write_text(ssid_file, old_ssid)
            except Exception:
                pass
            try:
                if old_pass is None:
                    if os.path.exists(pass_file):
                        os.remove(pass_file)
                else:
                    _write_text(pass_file, old_pass)
            except Exception:
                pass

        old_conf = _read_text(conf_path)
        old_boot_ssid = _read_text(ssid_file)
        old_boot_pass = _read_text(pass_file)

        try:
            # 生成 wpa_supplicant 配置（写 /etc 作为辅助，具体是否生效取决于 S30wifi 脚本）
            net_conf = os.popen(f'wpa_passphrase "{ssid}" "{password}"').read()
            if "network={" not in net_conf:
                raise RuntimeError("Failed to generate wpa config")

            try:
                _write_text(
                    conf_path,
                    "ctrl_interface=/var/run/wpa_supplicant\n"
                    "update_config=1\n\n"
                    + net_conf,
                )
            except Exception:
                # 不强制要求写 /etc 成功（某些系统只用 /boot）
                pass

            # ====== 临时写入 /boot 凭证，触发 WiFi 服务真正尝试连接新 SSID ======
            _write_text(ssid_file, ssid.strip())
            _write_text(pass_file, password.strip())

            # 重启 Wi-Fi 服务
            os.system("/etc/init.d/S30wifi restart")

            # 等待获取 IP
            import time as std_time
            wait_s = int(timeout_s) if timeout_s and timeout_s > 0 else 20
            wait_s = min(max(wait_s, 5), 60)
            for _ in range(wait_s):
                ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
                if ip:
                    # 拿到 IP 不代表可上网/可访问目标；继续做可达性验证
                    self._wifi_connected = True
                    self._wifi_ip = ip
                    self.logger.info(f"[WIFI] 已连接，IP: {ip}，开始验证网络可用性...")

                    # 验证能访问指定目标（默认使用 TCP 服务器）
                    v_host = verify_host if verify_host is not None else self._server_ip
                    v_port = int(verify_port) if verify_port is not None else int(self._server_port)
                    if v_host and v_port:
                        if not self.is_server_reachable(v_host, v_port, timeout=5):
                            raise RuntimeError(f"Target unreachable ({v_host}:{v_port})")

                    # ====== 验证通过 ======
                    if not persist:
                        # 不持久化：把 /boot 恢复成旧值（不重启，当前连接保持不变）
                        _restore_boot(old_boot_ssid, old_boot_pass)
                        self.logger.info("[WIFI] 网络验证通过，但按 persist=False 回滚 /boot 凭证（不重启）")
                    else:
                        self.logger.info("[WIFI] 网络验证通过，/boot 凭证已保留（持久化）")

                    return ip, None

                std_time.sleep(1)

            raise RuntimeError("Timeout: No IP obtained")

        except Exception as e:
            # 失败：回滚 /boot 和 /etc，重启 WiFi 恢复旧网络
            _restore_boot(old_boot_ssid, old_boot_pass)
            try:
                if old_conf is not None:
                    _write_text(conf_path, old_conf)
            except Exception:
                pass
            try:
                os.system("/etc/init.d/S30wifi restart")
            except Exception:
                pass

            self._wifi_connected = False
            self._wifi_ip = None
            self.logger.error(f"[WIFI] 连接/验证失败，已回滚: {e}")
            return None, str(e)
    
    def is_server_reachable(self, host, port=80, timeout=5):
        """检查目标主机端口是否可达（用于网络检测）"""
        try:
            addr_info = socket.getaddrinfo(host, port)[0]
            s = socket.socket(addr_info[0], addr_info[1], addr_info[2])
            s.settimeout(timeout)
            s.connect(addr_info[-1])
            s.close()
            return True
        except Exception as e:
            self.logger.warning(f"[NET] 无法连接 {host}:{port} - {e}")
            return False
    
    # ==================== 网络选择策略 ====================
    
    def select_network(self, prefer_wifi=None):
        """
        自动选择网络（WiFi优先）
        
        Args:
            prefer_wifi: 是否优先使用WiFi（None表示使用默认策略）
        
        Returns:
            "wifi" 或 "4g" 或 None（无可用网络）
        """
        if prefer_wifi is None:
            prefer_wifi = self._prefer_wifi
        
        # 策略1：如果指定优先WiFi，且WiFi可用，使用WiFi
        if prefer_wifi and self.is_wifi_connected():
            # 检查WiFi是否能连接到服务器
            if self.is_server_reachable(self._server_ip, self._server_port, timeout=3):
                self._network_type = "wifi"
                self.logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}")
                import os
                os.environ["TZ"] = "Asia/Shanghai"
                os.system("ntpdate pool.ntp.org")
                return "wifi"
            else:
                self.logger.warning("[NET] WiFi已连接但无法访问服务器，尝试4G")
        
        # 策略2：如果WiFi可用，使用WiFi
        if self.is_wifi_connected():
            if self.is_server_reachable(self._server_ip, self._server_port, timeout=3):
                self._network_type = "wifi"
                self.logger.info(f"[NET] 选择WiFi网络，IP: {self._wifi_ip}")
                return "wifi"
        
        # 策略3：回退到4G
        self.logger.info("[NET] WiFi不可用或无法连接服务器，使用4G网络")
        self._network_type = "4g"
        return "4g"

    
    def safe_enqueue(self, data_dict, msg_type=2, high=False):
        """线程安全地将消息加入队列（公共方法）"""
        self._enqueue((msg_type, data_dict), high)
    
    def make_packet(self, msg_type: int, body_dict: dict) -> bytes:
        """打包 TCP 数据包：头部（长度+类型+校验）+ JSON 正文"""
        body = json.dumps(body_dict).encode()
        body_len = len(body)
        checksum = body_len + msg_type
        header = struct.pack(">III", body_len, msg_type, checksum)
        return header + body
    
    def parse_packet(self, data: bytes):
        """解析 TCP 数据包，返回 (类型, 正文字典)"""
        if len(data) < 12:
            return None, None
        body_len, msg_type, checksum = struct.unpack(">III", data[:12])

        expected_len = 12 + body_len
        
        # 防御性检查：如果 data 比预期长，说明可能有粘包
        if len(data) > expected_len:
            self.logger.warning(
                f"[TCP] parse_packet: data length ({len(data)}) > expected ({expected_len}), "
                f"possible packet concatenation. body_len={body_len}, msg_type={msg_type}"
            )
            # 只解析第一个包，忽略多余数据（或者可以返回剩余部分）
            # data = data[:expected_len]
            # TODO： 是否需要解析剩余部分？
        
        # 如果 data 比预期短，说明包不完整（半包）
        if len(data) < expected_len:
            self.logger.warning(
                f"[TCP] parse_packet: data length ({len(data)}) < expected ({expected_len}), "
                f"incomplete packet. body_len={body_len}, msg_type={msg_type}"
            )
            return None, None

        body = data[12:12 + body_len]
        try:
            return msg_type, json.loads(body.decode())
        except:
            return msg_type, {"raw": body.decode(errors="ignore")}
    
    def connect_server(self):
        """
        连接到服务器（自动选择WiFi或4G）
        
        Returns:
            bool: 是否连接成功
        """
        if self._tcp_connected:
            # 检查当前连接是否仍然有效
            if self._network_type == "wifi":
                return self._check_wifi_connection()
            elif self._network_type == "4g":
                return True  # 4G连接状态由AT命令维护
            return False
        
        # 自动选择网络
        network_type = self.select_network()
        if not network_type:
            return False
        
        self.logger.info(f"连接到服务器,使用{network_type.upper()}...")
        
        # 根据网络类型建立TCP连接
        if network_type == "wifi":
            return self._connect_tcp_via_wifi()
        elif network_type == "4g":
            return self._connect_tcp_via_4g()
        return False
    
    def _connect_tcp_via_wifi(self):
        """通过WiFi建立TCP连接"""
        try:
            # 创建TCP socket
            self._wifi_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
            self._wifi_socket.settimeout(5.0)  # 5秒超时
            
            # 连接到服务器
            addr_info = socket.getaddrinfo(config.SERVER_IP, config.SERVER_PORT, 
                                           socket.AF_INET, socket.SOCK_STREAM)[0]
            self._wifi_socket.connect(addr_info[-1])
            
            # 设置非阻塞模式（用于接收数据）
            self._wifi_socket.setblocking(False)
            # 加快消息发送
            self._wifi_socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
            
            self._tcp_connected = True
            self.logger.info("[WIFI-TCP] TCP连接已建立")
            return True
            
        except Exception as e:
            self.logger.error(f"[WIFI-TCP] 连接失败: {e}")
            
            if self._wifi_socket:
                try:
                    self._wifi_socket.close()
                except:
                    pass
                self._wifi_socket = None
            
            return False
    
    def _connect_tcp_via_4g(self):
        """通过4G模块建立TCP连接（支持按手册绑定 SSL）"""
        link_id = getattr(config, "TCP_LINK_ID", 0)
        use_ssl = getattr(config, "USE_TCP_SSL", False)

        host = self._server_ip
        port = getattr(config, "TCP_SSL_PORT", 443) if use_ssl else config.SERVER_PORT
        tail = getattr(config, "MIPOPEN_TAIL", "")
        with self.get_uart_lock():
            resp = hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000)
            self.logger.info(f"[4G-TCP] AT+MIPCLOSE={link_id} response: {resp}")

            if use_ssl:
                ok = self._configure_ssl_before_connect(link_id)
                if not ok:
                    return False

            # 按手册：AT+MIPOPEN=1,"TCP","host",443,,0
            # cmd = f'AT+MIPOPEN={link_id},"TCP","{host}",{port}{tail}'
            cmd = f'AT+MIPOPEN={link_id},"TCP","{host}",{port}'
            res = hardware_manager.at_client.send(cmd, "+MIPOPEN", 8000)
            self.logger.info(f"[4G-TCP] {cmd} response: {res}")
        if f"+MIPOPEN: {link_id},0" in res:
            self._tcp_connected = True
            return True
        return False
    
    def _check_wifi_connection(self):
        """检查WiFi TCP连接是否仍然有效"""
        if not self._wifi_socket:
            return False
        try:
            # send(b"") 在很多实现里是 no-op，无法可靠探测断线。
            # 用非阻塞 peek 来判断：若对端已关闭，recv 会返回 b""。
            data = self._wifi_socket.recv(1, socket.MSG_PEEK | socket.MSG_DONTWAIT)
            if data == b"":
                raise OSError("wifi socket closed")
            return True
        except BlockingIOError:
            # 无数据可读但连接仍在（EAGAIN）
            return True
        except OSError as e:
            # 兼容不同平台的 EAGAIN / would block
            err = getattr(e, "errno", None)
            if err in (11, 35, 10035):  # EAGAIN/EWOULDBLOCK on linux/mac/win
                return True

            # 某些平台会把“无数据可读/超时”抛成 socket.timeout / TimeoutError，errno 可能为 None，
            # 这不代表断线：视为 benign，交给真正的 send/recv 去判定断线。
            if (err is None) and (("timed out" in str(e).lower()) or isinstance(e, (TimeoutError, socket.timeout))):
                try:
                    self.logger.warning(f"[WIFI-TCP] conncheck timeout treated as benign: {e}")
                except:
                    pass
                return True

            # 某些嵌入式 socket 实现可能不支持 MSG_PEEK/MSG_DONTWAIT，或返回 EINVAL/ENOTSUP。
            # 这种情况不代表断线：选择“无法检测但不判死”，交给真正的 send/recv 去触发断线处理。
            # 常见：EINVAL(22), ENOTSUP(95), EOPNOTSUPP(95), EINTR(4)
            if err in (4, 22, 95):
                try:
                    self.logger.warning(f"[WIFI-TCP] conncheck unsupported/benign errno={err}: {e}")
                except:
                    pass
                return True

            # 记录真实错误，便于定位
            try:
                self.logger.error(f"[WIFI-TCP] conncheck failed errno={err}: {e}")
            except:
                pass

            # 明确的“连接不可用”错误才判定断线并清理
            # 常见：ENOTCONN(107), ECONNRESET(104), EPIPE(32), EBADF(9)
            if err in (9, 32, 104, 107, 10054, 10057):
                try:
                    self._wifi_socket.close()
                except:
                    pass
                self._wifi_socket = None
                self._tcp_connected = False
                return False

            # socket已断开或不可用，清理
            try:
                self._wifi_socket.close()
            except:
                pass
            self._wifi_socket = None
            self._tcp_connected = False
            return False
        except Exception:
            try:
                self._wifi_socket.close()
            except:
                pass
            self._wifi_socket = None
            self._tcp_connected = False
            return False
    
    def disconnect_server(self):
        """断开TCP连接"""
        if self._tcp_connected:
            self.logger.info("与服务器断开链接")
        
        if self._network_type == "wifi":
            self._disconnect_tcp_via_wifi()
        elif self._network_type == "4g":
            self._disconnect_tcp_via_4g()
        
        self._tcp_connected = False
        self._network_type = None
    
    def _disconnect_tcp_via_wifi(self):
        """断开WiFi TCP连接"""
        with self._wifi_socket_lock:
            if self._wifi_socket:
                try:
                    self._wifi_socket.close()
                except:
                    pass
                self._wifi_socket = None
    
    def _disconnect_tcp_via_4g(self):
        link_id = getattr(config, "TCP_LINK_ID", 0)
        with self.get_uart_lock():
            hardware_manager.at_client.send(f"AT+MIPCLOSE={link_id}", "OK", 1000)


    def tcp_send_raw(self, data: bytes, max_retries=2) -> bool:
        """
        统一的TCP发送接口（自动选择WiFi或4G）
        
        Args:
            data: 要发送的数据
            max_retries: 最大重试次数
        
        Returns:
            bool: 是否发送成功
        """
        if not self._tcp_connected:
            return False
        
        # 根据网络类型选择发送方式
        if self._network_type == "wifi":
            # 先快速校验 WiFi socket 是否仍有效，避免卡在半开连接上
            if not self._check_wifi_connection():
                print("_check_wifi_connection failed")
                return False
            return self._tcp_send_raw_via_wifi(data, max_retries)
        elif self._network_type == "4g":
            return self._tcp_send_raw_via_4g(data, max_retries)
        else:
            self.logger.error("[NET] 未选择网络类型，无法发送数据")
            return False
    
    def _tcp_send_raw_via_wifi(self, data: bytes, max_retries=2) -> bool:
        """通过WiFi socket发送TCP数据"""
        if not self._wifi_socket:
            return False
        
        with self._wifi_socket_lock:
            for attempt in range(max_retries):
                try:
                    # 标准socket发送
                    total_sent = 0
                    while total_sent < len(data):
                        sent = self._wifi_socket.send(data[total_sent:])
                        if sent == 0:
                            # socket连接已断开
                            self.logger.warning(f"[WIFI-TCP] 发送失败，socket已断开（尝试 {attempt+1}/{max_retries}）")
                            raise OSError("wifi socket closed (send returned 0)")
                        total_sent += sent
                    
                    if total_sent == len(data):
                        return True
                    
                    # 发送不完整，重试
                    time.sleep_ms(50)
                    
                except OSError as e:
                    self.logger.error(f"[WIFI-TCP] 发送异常: {e}（尝试 {attempt+1}/{max_retries}）")
                    # 发送异常通常意味着连接已不可用，主动关闭以触发重连
                    try:
                        self._wifi_socket.close()
                    except:
                        pass
                    self._wifi_socket = None
                    self._tcp_connected = False
                    return False
                except Exception as e:
                    self.logger.error(f"[WIFI-TCP] 未知错误: {e}（尝试 {attempt+1}/{max_retries}）")
                    try:
                        self._wifi_socket.close()
                    except:
                        pass
                    self._wifi_socket = None
                    self._tcp_connected = False
                    return False
            
            return False
    
    def _tcp_send_raw_via_4g(self, data: bytes, max_retries=2) -> bool:
        link_id = getattr(config, "TCP_LINK_ID", 0)
        with self.get_uart_lock():
            for _ in range(max_retries):
                cmd = f'AT+MIPSEND={link_id},{len(data)}'
                if ">" not in hardware_manager.at_client.send(cmd, ">", 2000):
                    time.sleep_ms(50)
                    continue

                total = 0
                while total < len(data):
                    n = hardware_manager.uart4g.write(data[total:])
                    if not n or n < 0:
                        time.sleep_ms(1)
                        continue
                    total += n

                hardware_manager.uart4g.write(b"\x1A")
                r = hardware_manager.at_client.send("", "OK", 8000)
                if ("SEND OK" in r) or ("OK" in r) or ("+MIPSEND" in r):
                    return True
                time.sleep_ms(50)
            return False

    def _configure_ssl_before_connect(self, link_id: int) -> bool:
        """按手册：MSSLCFG(auth) -> (可选) MSSLCERTWR -> MSSLCFG(cert) -> MIPCFG(ssl)"""
        ssl_id = getattr(config, "SSL_ID", 1)
        auth_mode = getattr(config, "SSL_AUTH_MODE", 1)
        verify_mode = getattr(config, "SSL_VERIFY_MODE", 0)

        # 1) 配置认证方式
        # r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},{auth_mode}', "OK", 3000)
        r = hardware_manager.at_client.send(f'AT+MSSLCFG="auth",{ssl_id},0', "OK", 3000)
        self.logger.info(f"[4G-TCP] AT+MSSLCFG=\"auth\",{ssl_id},0 response: {r}")
        if "OK" not in r:
            return False

        # 2) 写入根证书（只有 verify_mode=1 才需要）
        # if verify_mode == 1:
        if False:
            cert_filename = getattr(config, "SSL_CERT_FILENAME", None)
            cert_path = getattr(config, "SSL_CERT_PATH", None)
            if not cert_filename or not cert_path:
                return False

            # 读取证书文件（设备侧路径）
            with open(cert_path, "rb") as f:
                cert_data = f.read()

            # 按手册：AT+MSSLCERTWR="file",0,size -> 等待 ">" -> 写入证书内容 -> 等 OK
            r = hardware_manager.at_client.send(f'AT+MSSLCERTWR="{cert_filename}",0,{len(cert_data)}', ">", 5000)
            if ">" not in r:
                return False

            # 直接写原始字节，不要额外拼 \r\n
            hardware_manager.uart4g.write(cert_data)

            r = hardware_manager.at_client.send("", "OK", 8000)
            if "OK" not in r:
                return False

            # 3) 引用根证书
            r = hardware_manager.at_client.send(f'AT+MSSLCFG="cert",{ssl_id},"{cert_filename}"', "OK", 3000)
            if "OK" not in r:
                return False

        # 4) 绑定 TCP 通道到 ssl_id，并启用
        r = hardware_manager.at_client.send(f'AT+MIPCFG="ssl",{link_id},{ssl_id},1', "OK", 3000)
        self.logger.info(f"[4G-TCP] AT+MIPCFG=\"ssl\",{link_id},{ssl_id},1 response: {r}")   
        if "OK" not in r:
            return False

        return True

    def receive_tcp_data_via_wifi(self, timeout_ms=100):
        """
        通过WiFi接收TCP数据
        
        Args:
            timeout_ms: 超时时间（毫秒）
        
        Returns:
            bytes: 接收到的数据，如果没有数据则返回 b""
        """
        if not self._wifi_socket:
            return b""
        
        try:
            # 这里保持 socket 为非阻塞模式（连接时已 setblocking(False)）。
            # 不要反复 settimeout()，否则会把 socket 切回“阻塞+超时”，并导致 conncheck 误报 timed out。
            data = self._wifi_socket.recv(4096)  # 每次最多接收4KB（无数据会抛 BlockingIOError）
            return data

        except BlockingIOError:
            # 无数据可读是正常的
            return b""
        except OSError as e:
            # socket错误（连接断开等）
            self.logger.warning(f"[WIFI-TCP] 接收数据失败: {e}")
            
            # 关闭socket
            try:
                self._wifi_socket.close()
            except:
                pass
            self._wifi_socket = None
            self._tcp_connected = False
            
            return b""
        except Exception as e:
            self.logger.error(f"[WIFI-TCP] 接收数据异常: {e}")
            return b""

    def _upload_log_file(self, upload_url, wifi_ssid=None, wifi_password=None, include_rotated=True, max_files=None, archive_format="tgz"):
        """上传日志文件到指定URL
        
        Args:
            upload_url: 上传目标URL，例如 "https://example.com/upload/"
            wifi_ssid: WiFi SSID（可选，如果未连接WiFi则尝试连接）
            wifi_password: WiFi 密码（可选）
            include_rotated: 是否包含轮转日志（app.log.1 等）
            max_files: 最多打包多少个日志文件（包含 app.log 本身），None=按 backupCount 自动推断
            archive_format: 打包格式：tgz 或 zip
        
        Note:
            该功能仅在 WiFi 连接时可用，4G 网络暂不支持文件上传
        """
        import requests
        import shutil
        from datetime import datetime
        import glob
        
        try:
            # 检查 WiFi 连接状态，如果未连接则尝试连接
            if not self.is_wifi_connected():
                if wifi_ssid and wifi_password:
                    self.logger.info(f"[LOG_UPLOAD] WiFi 未连接，尝试连接 WiFi: {wifi_ssid}")
                    self.safe_enqueue({"result": "log_upload_connecting_wifi", "ssid": wifi_ssid}, 2)
                    
                    # 连接前先把“目标上传 URL”作为可达性验证目标，只有验证通过才落盘保存 SSID/PASS
                    try:
                        from urllib.parse import urlparse
                        parsed = urlparse(upload_url)
                        v_host = parsed.hostname
                        v_port = parsed.port or (443 if parsed.scheme == "https" else 80)
                    except Exception:
                        v_host, v_port = None, None

                    ip, error = self.connect_wifi(
                        wifi_ssid,
                        wifi_password,
                        verify_host=v_host,
                        verify_port=v_port,
                        persist=True,
                    )
                    if error:
                        self.logger.error(f"[LOG_UPLOAD] WiFi 连接失败: {error}")
                        self.safe_enqueue({
                            "result": "log_upload_failed",
                            "reason": "wifi_connect_failed",
                            "detail": error
                        }, 2)
                        return
                    
                    self.logger.info(f"[LOG_UPLOAD] WiFi 连接成功，IP: {ip}")
                else:
                    self.logger.warning("[LOG_UPLOAD] WiFi 未连接且未提供 WiFi 凭证，无法上传日志")
                    self.safe_enqueue({
                        "result": "log_upload_failed",
                        "reason": "wifi_not_connected",
                        "detail": "WiFi not connected and no credentials provided"
                    }, 2)
                    return
            else:
                self.logger.info("[LOG_UPLOAD] WiFi 已连接，跳过连接步骤")
            
            self.logger.info(f"[LOG_UPLOAD] 开始上传日志文件...")
            
            # 获取日志文件路径
            log_file_path = config.LOG_FILE  # /maixapp/apps/t11/app.log
            
            if not os.path.exists(log_file_path):
                self.logger.error(f"[LOG_UPLOAD] 日志文件不存在: {log_file_path}")
                self.safe_enqueue({"result": "log_upload_failed", "reason": "log_file_not_found"}, 2)
                return
            
            # 生成带时间戳的文件名（归档）
            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
            device_id = self._device_id or "unknown"
            base_name = f"logs_{timestamp}_{device_id}"
            archive_format = (archive_format or "tgz").strip().lower()
            if archive_format not in ("tgz", "zip"):
                archive_format = "tgz"

            # 选择要打包的日志文件
            candidates = [log_file_path]
            if include_rotated:
                candidates = sorted(set(glob.glob(log_file_path + "*")))
            candidates = [p for p in candidates if os.path.isfile(p)]

            # app.log 优先，其余按“数字后缀”排序（app.log.1, app.log.2...）
            def _log_sort_key(p: str):
                if p == log_file_path:
                    return (0, 0, p)
                suffix = p[len(log_file_path):]
                if suffix.startswith("."):
                    try:
                        return (1, int(suffix[1:]), p)
                    except:
                        return (2, 999999, p)
                return (3, 999999, p)

            candidates.sort(key=_log_sort_key)

            # 限制最大文件数（默认：app.log + 轮转数量）
            if max_files is None:
                try:
                    max_files = 1 + int(getattr(config, "LOG_BACKUP_COUNT", 5))
                except:
                    max_files = 6
            try:
                max_files = int(max_files)
            except:
                max_files = 6
            max_files = max(1, min(max_files, 20))
            selected = candidates[:max_files]

            if not selected:
                self.logger.error("[LOG_UPLOAD] 未找到可打包的日志文件")
                self.safe_enqueue({"result": "log_upload_failed", "reason": "no_log_files"}, 2)
                return

            self.logger.info(f"[LOG_UPLOAD] 将打包日志文件数: {len(selected)}")

            # 先 sync，尽量确保日志落盘；再复制快照到 /tmp，避免打包过程中日志被追加导致内容不一致
            os.system("sync")
            temp_dir = "/tmp"
            staging_dir = os.path.join(temp_dir, f"log_upload_{base_name}")
            os.makedirs(staging_dir, exist_ok=True)
            staged_paths = []
            try:
                for p in selected:
                    dst = os.path.join(staging_dir, os.path.basename(p))
                    shutil.copy2(p, dst)
                    staged_paths.append(dst)
            except Exception as e:
                self.logger.error(f"[LOG_UPLOAD] 复制日志快照失败: {e}")
                self.safe_enqueue({"result": "log_upload_failed", "reason": "snapshot_failed", "detail": str(e)[:100]}, 2)
                try:
                    shutil.rmtree(staging_dir)
                except:
                    pass
                return

            # 打包压缩
            if archive_format == "zip":
                archive_filename = f"{base_name}.zip"
            else:
                archive_filename = f"{base_name}.tar.gz"
            archive_path = os.path.join(temp_dir, archive_filename)

            try:
                if archive_format == "zip":
                    import zipfile
                    with zipfile.ZipFile(archive_path, "w", compression=zipfile.ZIP_DEFLATED) as zf:
                        for p in staged_paths:
                            zf.write(p, arcname=os.path.basename(p))
                else:
                    import tarfile
                    with tarfile.open(archive_path, "w:gz") as tf:
                        for p in staged_paths:
                            tf.add(p, arcname=os.path.basename(p))
                self.logger.info(f"[LOG_UPLOAD] 日志压缩包已生成: {archive_path}")
            except Exception as e:
                self.logger.error(f"[LOG_UPLOAD] 打包压缩失败: {e}")
                self.safe_enqueue({"result": "log_upload_failed", "reason": "archive_failed", "detail": str(e)[:100]}, 2)
                try:
                    shutil.rmtree(staging_dir)
                except:
                    pass
                try:
                    if os.path.exists(archive_path):
                        os.remove(archive_path)
                except:
                    pass
                return
            finally:
                try:
                    shutil.rmtree(staging_dir)
                except:
                    pass

            # 使用 multipart/form-data 上传压缩包
            with open(archive_path, 'rb') as f:
                mime = "application/gzip" if archive_format == "tgz" else "application/zip"
                files = {'file': (archive_filename, f, mime)}
                
                # 添加额外的头部信息
                headers = {
                    'User-Agent': 'Archery-Device/1.0',
                    'X-Device-ID': device_id,
                }
                
                # 如果是 ngrok-free.dev，添加绕过警告页面的头
                if 'ngrok-free.dev' in upload_url or 'ngrok.io' in upload_url:
                    headers['ngrok-skip-browser-warning'] = 'true'
                
                self.logger.info(f"[LOG_UPLOAD] 正在上传到: {upload_url}")
                
                # 禁用 SSL 警告（用于自签名证书或 SSL 兼容性问题）
                import urllib3
                urllib3.disable_warnings(urllib3.exceptions.InsecureRequestWarning)
                
                # 发送请求，verify=False 跳过 SSL 证书验证（解决 MaixCAM SSL 兼容性问题）
                response = requests.post(upload_url, files=files, headers=headers, timeout=60, verify=False)
                
                if response.status_code in (200, 201, 204):
                    self.logger.info(f"[LOG_UPLOAD] 上传成功! 状态码: {response.status_code}")
                    self.safe_enqueue({
                        "result": "log_upload_ok",
                        "filename": archive_filename,
                        "status_code": response.status_code
                    }, 2)
                else:
                    self.logger.error(f"[LOG_UPLOAD] 上传失败! 状态码: {response.status_code}, 响应: {response.text[:200]}")
                    self.safe_enqueue({
                        "result": "log_upload_failed",
                        "reason": f"http_{response.status_code}",
                        "detail": response.text[:100]
                    }, 2)
            
            # 清理临时文件
            try:
                os.remove(archive_path)
                self.logger.debug(f"[LOG_UPLOAD] 临时文件已删除: {archive_path}")
            except Exception as e:
                self.logger.warning(f"[LOG_UPLOAD] 删除临时文件失败: {e}")
                
        except requests.exceptions.Timeout:
            self.logger.error("[LOG_UPLOAD] 上传超时")
            self.safe_enqueue({"result": "log_upload_failed", "reason": "timeout"}, 2)
        except requests.exceptions.ConnectionError as e:
            self.logger.error(f"[LOG_UPLOAD] 连接失败: {e}")
            self.safe_enqueue({"result": "log_upload_failed", "reason": "connection_error"}, 2)
        except Exception as e:
            self.logger.error(f"[LOG_UPLOAD] 上传异常: {e}")
            self.safe_enqueue({"result": "log_upload_failed", "reason": str(e)[:100]}, 2)

    def generate_token(self, device_id):
        """生成用于 HTTP 接口鉴权的 Token（HMAC-SHA256）"""
        SALT = "shootMessageFire"
        SALT2 = "shoot"
        return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
    
    def tcp_main(self):
        """TCP 主通信循环：登录、心跳、处理指令、发送数据"""
        import _thread
        from maix import camera
        
        self.logger.info("[NET] TCP主线程启动")
        
        send_hartbeat_fail_count = 0
        last_charging_check = 0
        CHARGING_CHECK_INTERVAL = 5000  # 5秒检查一次充电状态
        
        while True:
            try:
                # 检查充电状态（每5秒检查一次）
                current_time = time.ticks_ms()
                if current_time - last_charging_check > CHARGING_CHECK_INTERVAL:
                    last_charging_check = current_time
                
                # OTA 期间不要 connect/登录/心跳/发送
                try:
                    from ota_manager import ota_manager
                    if ota_manager.ota_in_progress:
                        time.sleep_ms(200)
                        continue
                except Exception as e:
                    self.logger.error(f"[NET] OTA检查异常: {e}")
                    time.sleep_ms(200)
                    continue

                if not self.connect_server():
                    time.sleep_ms(5000)
                    continue

                # 发送登录包
                vol_val = get_bus_voltage()
                login_data = {
                    "deviceId": self.device_id, 
                    "password": self.password, 
                    "version": config.APP_VERSION, 
                    "vol": vol_val, 
                    "vol_per": voltage_to_percent(vol_val)
                }
                # if not self.tcp_send_raw(self.make_packet(1, login_data)):
                if not self.tcp_send_raw(self._netcore.make_packet(1, login_data)):
                    self._tcp_connected = False
                    try:
                        self.disconnect_server()
                    except:
                        pass
                    time.sleep_ms(2000)
                    continue

                self.logger.info("➡️ 登录包已发送，等待确认...")
                logged_in = False
                pending_cleared = False
                last_heartbeat_ack_time = time.ticks_ms()
                last_heartbeat_send_time = time.ticks_ms()
                
                while True:
                    # 如果底层连接已断开，尽快跳出内层循环触发重连/重选网络
                    if not self._tcp_connected:
                        break

                    # OTA 期间暂停 TCP 活动
                    try:
                        from ota_manager import ota_manager
                        if ota_manager.ota_in_progress:
                            time.sleep_ms(200)
                            continue
                    except Exception as e:
                        self.logger.error(f"[NET] OTA检查异常: {e}")
                        time.sleep_ms(200)
                        continue

                    # 接收数据（根据网络类型选择接收方式）
                    item = None
                    if self._network_type == "wifi":
                        # WiFi接收数据
                        data = self.receive_tcp_data_via_wifi(timeout_ms=50)
                        if data:
                            # 将数据添加到缓冲区
                            self._wifi_recv_buffer += data

                            # 尝试从缓冲区解析完整的数据包
                            while len(self._wifi_recv_buffer) >= 12:  # 至少需要12字节的头部
                                # 解析头部
                                try:
                                    body_len, msg_type, checksum = struct.unpack(">III", self._wifi_recv_buffer[:12])
                                    total_len = 12 + body_len

                                    if len(self._wifi_recv_buffer) >= total_len:
                                        # 有完整的数据包
                                        payload = self._wifi_recv_buffer[:total_len]
                                        self._wifi_recv_buffer = self._wifi_recv_buffer[total_len:]
                                        item = (0, payload)  # link_id=0 for WiFi
                                        break
                                    else:
                                        # 数据包不完整，等待更多数据
                                        break
                                except:
                                    # 解析失败，清空缓冲区
                                    self._wifi_recv_buffer = b""
                                    break
                    elif self._network_type == "4g":
                        # 4G接收数据
                        item = hardware_manager.at_client.pop_tcp_payload()

                    if item:
                        if isinstance(item, tuple) and len(item) == 2:
                            link_id, payload = item
                        else:
                            link_id, payload = 0, item

                        if not logged_in:
                            try:
                                self.logger.debug(f"[TCP] rx link={link_id} len={len(payload)} head={payload[:12].hex()}")
                            except:
                                pass

                        # msg_type, body = self.parse_packet(payload)
                        msg_type, body = self._netcore.parse_packet(payload)

                        # 处理登录响应
                        if not logged_in and msg_type == 1:
                            if body and body.get("cmd") == 1 and body.get("data") == "登录成功":
                                logged_in = True
                                last_heartbeat_ack_time = time.ticks_ms()
                                self.logger.info("登录成功")

                                # 检查 ota_pending.json
                                try:
                                    pending_path = f"{config.APP_DIR}/ota_pending.json"
                                    if os.path.exists(pending_path):
                                        try:
                                            with open(pending_path, "r", encoding="utf-8") as f:
                                                pending_obj = json.load(f)
                                        except:
                                            pending_obj = {}
                                        self.safe_enqueue({"result": "ota_ok", "url": pending_obj.get("url", "")}, 2)
                                        self.logger.info("[OTA] 已上报 ota_ok，等待心跳确认后删除 pending")
                                except Exception as e:
                                    self.logger.error(f"[OTA] ota_ok 上报失败: {e}")
                            else:
                                break

                        # 处理心跳 ACK
                        elif logged_in and msg_type == 4:
                            last_heartbeat_ack_time = time.ticks_ms()
                            self.logger.debug("✅ 收到心跳确认")

                        # 处理命令40（分片下载）
                        elif logged_in and msg_type == 40:
                            if isinstance(body, dict):
                                t = body.get('t', 0)
                                v = body.get('v')
                                # 如果是第一个分片，清空之前的缓存
                                if len(self._raw_line_data) == 0 or (len(self._raw_line_data) > 0 and self._raw_line_data[0].get('v') != v):
                                    self._raw_line_data.clear()
                                # 或者更简单：每次收到命令40时，如果版本号不同，清空缓存
                                if len(self._raw_line_data) > 0:
                                    first_v = self._raw_line_data[0].get('v')
                                    if first_v and first_v != v:
                                        self._raw_line_data.clear()
                                self._raw_line_data.append(body)
                                if len(self._raw_line_data) >= int(t):
                                    self.logger.info(f"下载完成")
                                    from ota_manager import ota_manager
                                    stock_array = list(map(lambda x: x.get('d'), self._raw_line_data))
                                    local_filename = config.LOCAL_FILENAME
                                    with open(local_filename, 'w', encoding='utf-8') as file:
                                        file.write("\n".join(stock_array))
                                    ota_manager.apply_ota_and_reboot(None, local_filename)
                                else:
                                    self.safe_enqueue({'data':{'l': len(self._raw_line_data), 'v': v}, 'cmd': 41})
                                self.logger.info(f"已下载{len(self._raw_line_data)} 全部：{t} 版本：{v}")

                        # 处理业务指令
                        elif logged_in and isinstance(body, dict):
                            inner_cmd = None
                            data_obj = body.get("data")
                            if isinstance(data_obj, dict):
                                inner_cmd = data_obj.get("cmd")

                            if inner_cmd == 2:  # 开启激光并校准
                                from laser_manager import laser_manager
                                if not laser_manager.calibration_active:
                                    laser_manager.turn_on_laser()
                                    time.sleep_ms(100)
                                    if not config.HARDCODE_LASER_POINT:
                                        laser_manager.start_calibration()
                                        self.safe_enqueue({"result": "calibrating"}, 2)
                                    else:
                                        # 写死的逻辑，不需要校准激光点
                                        self.safe_enqueue({"result": "laser pos set by hard code"}, 2)
                            elif inner_cmd == 3:  # 关闭激光
                                from laser_manager import laser_manager
                                laser_manager.turn_off_laser()
                                laser_manager.stop_calibration()
                                self.safe_enqueue({"result": "laser_off"}, 2)
                            elif inner_cmd == 4:  # 上报电量
                                voltage = get_bus_voltage()
                                battery_percent = voltage_to_percent(voltage)
                                battery_data = {"battery": battery_percent, "voltage": round(voltage, 3)}
                                self.safe_enqueue(battery_data, 2)
                                self.logger.info(f"电量上报: {battery_percent}%")
                            elif inner_cmd == 5:  # OTA 升级
                                inner_data = data_obj.get("data", {}) if isinstance(data_obj, dict) else {}
                                ssid = inner_data.get("ssid")
                                password = inner_data.get("password")
                                ota_url = inner_data.get("url")
                                mode = (inner_data.get("mode") or "").strip().lower()

                                if not ota_url:
                                    self.logger.error("ota missing_url")
                                    self.safe_enqueue({"result": "missing_url"}, 2)
                                    continue

                                from ota_manager import ota_manager
                                if ota_manager.update_thread_started:
                                    self.safe_enqueue({"result": "update_already_started"}, 2)
                                    continue

                                # 自动判断模式：如果没有明确指定，根据WiFi连接状态和凭证决定
                                if mode not in ("4g", "wifi"):
                                    self.logger.info("ota missing mode, auto-detecting...")
                                    # 只有同时满足：WiFi已连接 且 提供了WiFi凭证，才使用WiFi
                                    if self.is_wifi_connected() and ssid and password:
                                        mode = "wifi"
                                        self.logger.info("ota auto-selected: wifi (WiFi connected and credentials provided)")
                                    else:
                                        mode = "4g"
                                        self.logger.info("ota auto-selected: 4g (WiFi not available or no credentials)")

                                if mode == "4g":
                                    ota_manager._set_ota_url(ota_url)  # 记录 OTA URL，供命令7使用
                                    ota_manager._start_update_thread()
                                    _thread.start_new_thread(ota_manager.direct_ota_download_via_4g, (ota_url,))
                                else:  # mode == "wifi"
                                    if not ssid or not password:
                                        self.logger.error("ota wifi mode requires ssid and password")
                                        self.safe_enqueue({"result": "missing_ssid_or_password"}, 2)
                                    else:
                                        ota_manager._start_update_thread()
                                        _thread.start_new_thread(ota_manager.handle_wifi_and_update, (ssid, password, ota_url))
                            elif inner_cmd == 6:
                                try:
                                    ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
                                    ip = ip if ip else "no_ip"
                                except:
                                    ip = "error_getting_ip"
                                self.safe_enqueue({"result": "current_ip", "ip": ip}, 2)
                            # elif inner_cmd == 7:
                            #     from ota_manager import ota_manager
                            #     if ota_manager.update_thread_started:
                            #         self.safe_enqueue({"result": "update_already_started"}, 2)
                            #         continue

                            #     try:
                            #         ip = os.popen("ifconfig wlan0 2>/dev/null | grep 'inet ' | awk '{print $2}'").read().strip()
                            #     except:
                            #         ip = None

                            #     if not ip:
                            #         self.safe_enqueue({"result": "ota_rejected", "reason": "no_wifi_ip"}, 2)
                            #     else:
                            #         # 注意：direct_ota_download 需要 ota_url 参数
                            #         # 如果 ota_manager.ota_url 为 None，需要从其他地方获取
                            #         ota_url_to_use = ota_manager.ota_url
                            #         if not ota_url_to_use:
                            #             self.logger.error("[OTA] cmd=7 但 OTA_URL 未设置")
                            #             self.safe_enqueue({"result": "ota_failed", "reason": "ota_url_not_set"}, 2)
                            #         else:
                            #             ota_manager._start_update_thread()
                            #             _thread.start_new_thread(ota_manager.direct_ota_download, (ota_url_to_use,))
                            elif inner_cmd == 41:
                                self.logger.info("[TEST] 收到TCP射箭触发命令")
                                self._manual_trigger_flag = True
                                self.safe_enqueue({"result": "trigger_ack"}, 2)
                            elif inner_cmd == 42:  # 关机命令
                                self.logger.info("[SHUTDOWN] 收到TCP关机命令，准备关机...")
                                self.safe_enqueue({"result": "shutdown_ack"}, 2)
                                time.sleep_ms(1000)
                                self.disconnect_server()
                                # 尝试关闭4G模块
                                try:
                                    with self.get_uart_lock():
                                        hardware_manager.at_client.send("AT+CFUN=0", "OK", 5000)
                                except:
                                    pass
                                time.sleep_ms(2000)
                                os.system("sync")  # 刷新文件系统缓存到磁盘，防止数据丢失
                                time.sleep_ms(500)
                                os.system("poweroff")
                                return
                            elif inner_cmd == 43:  # 上传日志命令
                                # 格式: {"cmd":43, "data":{"ssid":"xxx","password":"xxx","url":"xxx", ...}}
                                inner_data = data_obj.get("data", {})
                                upload_url = inner_data.get("url")
                                wifi_ssid = inner_data.get("ssid")
                                wifi_password = inner_data.get("password")
                                include_rotated = inner_data.get("include_rotated", True)
                                max_files = inner_data.get("max_files")
                                archive_format = inner_data.get("archive", "tgz")  # tgz 或 zip
                                
                                if not upload_url:
                                    self.logger.error("[LOG_UPLOAD] 缺少 url 参数")
                                    self.safe_enqueue({"result": "log_upload_failed", "reason": "missing_url"}, 2)
                                else:
                                    self.logger.info(f"[LOG_UPLOAD] 收到日志上传命令，目标URL: {upload_url}")
                                    # 在新线程中执行上传，避免阻塞主循环
                                    import _thread
                                    _thread.start_new_thread(
                                        self._upload_log_file,
                                        (upload_url, wifi_ssid, wifi_password, include_rotated, max_files, archive_format)
                                    )
                    else:
                        time.sleep_ms(5)

                    # 发送队列中的业务数据
                    if logged_in:
                        item = None
                        item_is_high = False
                        # 出队：发送失败时会把 item 放回队首，避免丢数据
                        with self.get_queue_lock():
                            if self._high_send_queue:
                                item = self._high_send_queue.pop(0)
                                item_is_high = True
                            elif self._normal_send_queue:
                                item = self._normal_send_queue.pop(0)
                                item_is_high = False

                        if item:
                            msg_type, data_dict = item
                            pkt = self._netcore.make_packet(msg_type, data_dict)
                            if not self.tcp_send_raw(pkt):
                                # 发送失败：将消息放回队首，触发重连（避免丢消息）
                                with self.get_queue_lock():
                                    if item_is_high:
                                        self._high_send_queue.insert(0, item)
                                    else:
                                        self._normal_send_queue.insert(0, item)
                                self._tcp_connected = False
                                try:
                                    self.disconnect_server()
                                except:
                                    pass
                                break

                    # 发送激光校准结果
                    if logged_in:
                        from laser_manager import laser_manager
                        result = laser_manager.get_calibration_result()
                        if result:
                            x, y = result
                            self.safe_enqueue({"result": "ok", "x": x, "y": y}, 2)

                    # 定期发送心跳
                    current_time = time.ticks_ms()
                    if logged_in and current_time - last_heartbeat_send_time > config.HEARTBEAT_INTERVAL * 1000:
                        vol_val = get_bus_voltage()
                        if not self.tcp_send_raw(self._netcore.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
                        # if not self.tcp_send_raw(self.make_packet(4, {"vol": vol_val, "vol_per": voltage_to_percent(vol_val)})):
                            send_hartbeat_fail_count += 1
                            # 短暂波动可能导致一次发送失败：连续失败达到阈值才重连，避免重连风暴
                            self.logger.error(f"心跳发送失败({send_hartbeat_fail_count}/3)，准备重试")
                            if send_hartbeat_fail_count >= 3:
                                self.logger.error("心跳连续失败>=3，准备重连")
                                self._tcp_connected = False
                                try:
                                    self.disconnect_server()
                                except:
                                    pass
                                break
                            else:
                                # 不立即断开，让下一轮心跳再试；同时缩短一点等待，提升恢复速度
                                time.sleep_ms(200)
                                continue
                        else:
                            send_hartbeat_fail_count = 0
                            last_heartbeat_send_time = current_time
                            self.logger.debug("心跳已发送")

                            # 删除 pending 文件（心跳发送成功后）
                            if not pending_cleared:
                                try:
                                    pending_path = f"{config.APP_DIR}/ota_pending.json"
                                    if os.path.exists(pending_path):
                                        try:
                                            os.remove(pending_path)
                                            pending_cleared = True
                                            self.logger.info("[OTA] 心跳发送成功，已删除 ota_pending.json")
                                        except Exception as e:
                                            self.logger.error(f"[OTA] 删除 pending 文件失败: {e}")
                                except Exception as e:
                                    self.logger.error(f"[OTA] 检查 pending 文件时出错: {e}")

                    # 心跳超时重连
                    if logged_in and current_time - last_heartbeat_ack_time > 1000*60*10:
                        self.logger.error("十分钟无心跳ACK，重连")
                        break

                    self._send_event.wait(timeout=0.05)  # 0.05秒 = 50ms
                    self._send_event.clear()

                self._tcp_connected = False
                self.logger.error("连接异常，2秒后重连...")
                time.sleep_ms(2000)
                
            except Exception as e:
                # TCP主循环的顶层异常捕获，防止线程静默退出
                self.logger.error(f"[NET] TCP主循环异常: {e}")
                import traceback
                self.logger.error(traceback.format_exc())
                self._tcp_connected = False
                time.sleep_ms(5000)  # 等待5秒后重试连接


# 创建全局单例实例
network_manager = NetworkManager()

# ==================== 向后兼容的函数接口 ====================

def tcp_main():
    """TCP主循环（向后兼容接口）"""
    return network_manager.tcp_main()

def read_device_id():
    """读取设备ID（向后兼容接口）"""
    return network_manager.read_device_id()

def safe_enqueue(data_dict, msg_type=2, high=False):
    """线程安全地加入队列（向后兼容接口）"""
    return network_manager.safe_enqueue(data_dict, msg_type, high)

def connect_server():
    """连接服务器（向后兼容接口）"""
    return network_manager.connect_server()

def disconnet_server():
    """断开服务器连接（向后兼容接口）"""
    return network_manager.disconnect_server()

def is_wifi_connected():
    """检查WiFi是否已连接（向后兼容接口）"""
    return network_manager.is_wifi_connected()

def connect_wifi(ssid, password):
    """连接WiFi（向后兼容接口）"""
    return network_manager.connect_wifi(ssid, password)

def is_server_reachable(host, port=80, timeout=5):
    """检查服务器是否可达（向后兼容接口）"""
    return network_manager.is_server_reachable(host, port, timeout)