import socket
import struct
import sys
import time

# CRC32 查表
CRC32_TABLE = [
    0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
    0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
    0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
    0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
    0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
    0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
    0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
    0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
    0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
    0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
    0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
    0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
    0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
    0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
    0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
    0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
    0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
    0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
    0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
    0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
    0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
    0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
    0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
    0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
    0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
    0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
    0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
    0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
    0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
    0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
    0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
    0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
]

# 计算CRC32
def get_crc32(buffer):
    crc32_value = 0xFFFFFFFF
    for byte in buffer:
        crc32_value = CRC32_TABLE[(crc32_value ^ byte) & 0xFF] ^ (crc32_value >> 8)
    return crc32_value ^ 0xFFFFFFFF

# 定义数据包结构
class ACC_PACKET:
    def __init__(self, data):
        self.header_tag = struct.unpack('<I', data[0:4])[0]
        self.pk = struct.unpack('<I', data[4:8])[0]
        self.size = struct.unpack('<I', data[8:12])[0]
        self.xyz = list(struct.unpack('<3072h', data[12:6156]))  # 1024 * 3 个 int16
        self.crc = struct.unpack('<I', data[6156:6160])[0]
        self.tail_tag = struct.unpack('<I', data[6160:6164])[0]

def main():
    ip_address = "192.168.71.88"
    port = 5001
    sec = 32*300
    filename = "data88.csv"

    if len(sys.argv) == 1:
        print("没有传递任何参数。")
    elif len(sys.argv) == 3:
        ip_address = sys.argv[1]
        sec = int(sys.argv[2])
    elif len(sys.argv) == 4:
        ip_address = sys.argv[1]
        sec = int(sys.argv[2])
        filename = sys.argv[3]

    print(f"Command args: {ip_address} {sec} {filename}")

    try:
        # 创建TCP连接
        client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        client.connect((ip_address, port))
        client.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 6144 * 5)
        print("Connected to server.")

        # 发送命令到服务器
        command = f"start {sec} 0\n\r"
        client.send(command.encode('ascii'))
        print(f"Command sent: {command}")
        start_time = time.perf_counter()
        # 接收数据
        packet_size = 6164  # ACC_PACKET 的大小
        packet_buffer = bytearray()
        total_packet = 0
        pk_num = 1

        with open(filename, 'w') as writer:
            while True:
                data = client.recv(4096 * 4)
                if not data:
                    print("Server disconnected.")
                    break

                packet_buffer.extend(data)

                while len(packet_buffer) >= packet_size:
                    packet_data = packet_buffer[:packet_size]
                    packet_buffer = packet_buffer[packet_size:]

                    packet = ACC_PACKET(packet_data)

                    if packet.header_tag == 0xFEFEFEFE and packet.tail_tag == 0x12121212:
                        calculated_crc = get_crc32(packet_data[:-8])  # 排除尾部4字节
                        if calculated_crc == packet.crc:
                            total_packet += 1
                            for i in range(1024):
                                writer.write(f" {packet.xyz[i * 3]},{packet.xyz[i * 3 + 1]},{packet.xyz[i * 3 + 2]}\n")

                            if packet.pk != pk_num:
                                print("PK check failed.")
                            pk_num = packet.pk + 1
                        else:
                            print("CRC check failed.")
                    else:
                        print("Invalid packet received.")

                    if total_packet == sec:
                        break

                if total_packet == sec:
                    break

        # 关闭连接
        client.close()
        end_time = time.perf_counter()
        print("运行时间：", end_time - start_time, "秒")
    except Exception as ex:
        print(f"Error: {ex}")

if __name__ == "__main__":
    main()