feat: 将摄像头数据从生成的数据改为读取实际数据
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parent
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178ac0de67
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@ -1,5 +1,9 @@
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using System.Collections;
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using DotNext;
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using SixLabors.ImageSharp;
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using SixLabors.ImageSharp.Formats.Jpeg;
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using SixLabors.ImageSharp.PixelFormats;
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using System.Text;
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namespace Common
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{
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@ -389,4 +393,339 @@ namespace Common
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}
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/// <summary>
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/// 图像处理工具
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/// </summary>
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public class Image
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{
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/// <summary>
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/// 将 RGB565 格式转换为 RGB24 格式
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/// RGB565: 5位红色 + 6位绿色 + 5位蓝色 = 16位 (2字节)
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/// RGB24: 8位红色 + 8位绿色 + 8位蓝色 = 24位 (3字节)
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/// </summary>
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/// <param name="rgb565Data">RGB565格式的原始数据</param>
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/// <param name="width">图像宽度</param>
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/// <param name="height">图像高度</param>
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/// <param name="isLittleEndian">是否为小端序（默认为true）</param>
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/// <returns>RGB24格式的转换后数据</returns>
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public static Result<byte[]> ConvertRGB565ToRGB24(byte[] rgb565Data, int width, int height, bool isLittleEndian = true)
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{
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if (rgb565Data == null)
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return new(new ArgumentNullException(nameof(rgb565Data)));
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if (width <= 0 || height <= 0)
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return new(new ArgumentException("Width and height must be positive"));
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// 计算像素数量
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var expectedPixelCount = width * height;
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var actualPixelCount = rgb565Data.Length / 2;
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if (actualPixelCount < expectedPixelCount)
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{
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return new(new ArgumentException(
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$"RGB565 data length insufficient. Expected: {expectedPixelCount * 2} bytes, Actual: {rgb565Data.Length} bytes"));
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}
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try
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{
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var pixelCount = Math.Min(actualPixelCount, expectedPixelCount);
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var rgb24Data = new byte[pixelCount * 3];
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for (int i = 0; i < pixelCount; i++)
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{
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// 读取 RGB565 数据
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var rgb565Index = i * 2;
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if (rgb565Index + 1 >= rgb565Data.Length) break;
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// 组合成16位值
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UInt16 rgb565;
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if (isLittleEndian)
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{
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rgb565 = (UInt16)(rgb565Data[rgb565Index] | (rgb565Data[rgb565Index + 1] << 8));
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}
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else
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{
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rgb565 = (UInt16)((rgb565Data[rgb565Index] << 8) | rgb565Data[rgb565Index + 1]);
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}
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// 提取各颜色分量
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var r5 = (rgb565 >> 11) & 0x1F; // 高5位为红色
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var g6 = (rgb565 >> 5) & 0x3F; // 中间6位为绿色
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var b5 = rgb565 & 0x1F; // 低5位为蓝色
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// 转换为8位颜色值
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var r8 = (byte)((r5 * 255) / 31); // 5位扩展到8位
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var g8 = (byte)((g6 * 255) / 63); // 6位扩展到8位
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var b8 = (byte)((b5 * 255) / 31); // 5位扩展到8位
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// 存储到 RGB24 数组
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var rgb24Index = i * 3;
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rgb24Data[rgb24Index] = r8; // R
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rgb24Data[rgb24Index + 1] = g8; // G
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rgb24Data[rgb24Index + 2] = b8; // B
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}
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return rgb24Data;
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}
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catch (Exception ex)
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{
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return new(ex);
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}
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}
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/// <summary>
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/// 将 RGB24 格式转换为 RGB565 格式
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/// RGB24: 8位红色 + 8位绿色 + 8位蓝色 = 24位 (3字节)
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/// RGB565: 5位红色 + 6位绿色 + 5位蓝色 = 16位 (2字节)
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/// </summary>
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/// <param name="rgb24Data">RGB24格式的原始数据</param>
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/// <param name="width">图像宽度</param>
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/// <param name="height">图像高度</param>
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/// <param name="isLittleEndian">是否为小端序（默认为true）</param>
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/// <returns>RGB565格式的转换后数据</returns>
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public static Result<byte[]> ConvertRGB24ToRGB565(byte[] rgb24Data, int width, int height, bool isLittleEndian = true)
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{
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if (rgb24Data == null)
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return new(new ArgumentNullException(nameof(rgb24Data)));
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if (width <= 0 || height <= 0)
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return new(new ArgumentException("Width and height must be positive"));
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var expectedPixelCount = width * height;
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var actualPixelCount = rgb24Data.Length / 3;
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if (actualPixelCount < expectedPixelCount)
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{
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return new(new ArgumentException(
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$"RGB24 data length insufficient. Expected: {expectedPixelCount * 3} bytes, Actual: {rgb24Data.Length} bytes"));
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}
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try
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{
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var pixelCount = Math.Min(actualPixelCount, expectedPixelCount);
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var rgb565Data = new byte[pixelCount * 2];
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for (int i = 0; i < pixelCount; i++)
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{
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var rgb24Index = i * 3;
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if (rgb24Index + 2 >= rgb24Data.Length) break;
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// 读取 RGB24 数据
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var r8 = rgb24Data[rgb24Index];
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var g8 = rgb24Data[rgb24Index + 1];
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var b8 = rgb24Data[rgb24Index + 2];
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// 转换为5位、6位、5位
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var r5 = (UInt16)((r8 * 31) / 255);
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var g6 = (UInt16)((g8 * 63) / 255);
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var b5 = (UInt16)((b8 * 31) / 255);
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// 组合成16位值
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var rgb565 = (UInt16)((r5 << 11) | (g6 << 5) | b5);
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// 存储到 RGB565 数组
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var rgb565Index = i * 2;
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if (isLittleEndian)
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{
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rgb565Data[rgb565Index] = (byte)(rgb565 & 0xFF);
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rgb565Data[rgb565Index + 1] = (byte)(rgb565 >> 8);
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}
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else
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{
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rgb565Data[rgb565Index] = (byte)(rgb565 >> 8);
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rgb565Data[rgb565Index + 1] = (byte)(rgb565 & 0xFF);
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}
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}
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return rgb565Data;
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}
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catch (Exception ex)
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{
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return new(ex);
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}
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}
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/// <summary>
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/// 将 RGB24 数据转换为 JPEG 格式
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/// </summary>
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/// <param name="rgb24Data">RGB24格式的图像数据</param>
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/// <param name="width">图像宽度</param>
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/// <param name="height">图像高度</param>
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/// <param name="quality">JPEG质量（1-100，默认80）</param>
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/// <returns>JPEG格式的字节数组</returns>
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public static Result<byte[]> ConvertRGB24ToJpeg(byte[] rgb24Data, int width, int height, int quality = 80)
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{
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if (rgb24Data == null)
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return new(new ArgumentNullException(nameof(rgb24Data)));
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if (width <= 0 || height <= 0)
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return new(new ArgumentException("Width and height must be positive"));
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if (quality < 1 || quality > 100)
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return new(new ArgumentException("Quality must be between 1 and 100"));
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var expectedDataLength = width * height * 3;
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if (rgb24Data.Length < expectedDataLength)
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{
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return new(new ArgumentException(
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$"RGB24 data length insufficient. Expected: {expectedDataLength} bytes, Actual: {rgb24Data.Length} bytes"));
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}
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try
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{
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using var image = new SixLabors.ImageSharp.Image<Rgb24>(width, height);
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// 将 RGB 数据复制到 ImageSharp 图像
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for (int y = 0; y < height; y++)
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{
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for (int x = 0; x < width; x++)
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{
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int index = (y * width + x) * 3;
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if (index + 2 < rgb24Data.Length)
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{
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var pixel = new Rgb24(rgb24Data[index], rgb24Data[index + 1], rgb24Data[index + 2]);
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image[x, y] = pixel;
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}
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}
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}
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using var stream = new MemoryStream();
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image.SaveAsJpeg(stream, new JpegEncoder { Quality = quality });
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return stream.ToArray();
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}
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catch (Exception ex)
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{
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return new(ex);
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}
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}
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/// <summary>
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/// 将 RGB565 数据直接转换为 JPEG 格式
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/// </summary>
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/// <param name="rgb565Data">RGB565格式的图像数据</param>
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/// <param name="width">图像宽度</param>
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/// <param name="height">图像高度</param>
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/// <param name="quality">JPEG质量（1-100，默认80）</param>
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/// <param name="isLittleEndian">是否为小端序（默认为true）</param>
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/// <returns>JPEG格式的字节数组</returns>
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public static Result<byte[]> ConvertRGB565ToJpeg(byte[] rgb565Data, int width, int height, int quality = 80, bool isLittleEndian = true)
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{
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// 先转换为RGB24
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var rgb24Result = ConvertRGB565ToRGB24(rgb565Data, width, height, isLittleEndian);
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if (!rgb24Result.IsSuccessful)
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{
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return new(rgb24Result.Error);
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}
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// 再转换为JPEG
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return ConvertRGB24ToJpeg(rgb24Result.Value, width, height, quality);
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}
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/// <summary>
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/// 创建 MJPEG 帧头部
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/// </summary>
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/// <param name="frameDataLength">帧数据长度</param>
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/// <param name="boundary">边界字符串（默认为"--boundary"）</param>
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/// <returns>MJPEG帧头部字节数组</returns>
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public static byte[] CreateMjpegFrameHeader(int frameDataLength, string boundary = "--boundary")
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{
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var header = $"{boundary}\r\nContent-Type: image/jpeg\r\nContent-Length: {frameDataLength}\r\n\r\n";
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return Encoding.ASCII.GetBytes(header);
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}
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/// <summary>
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/// 创建 MJPEG 帧尾部
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/// </summary>
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/// <returns>MJPEG帧尾部字节数组</returns>
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public static byte[] CreateMjpegFrameFooter()
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{
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return Encoding.ASCII.GetBytes("\r\n");
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}
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/// <summary>
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/// 创建完整的 MJPEG 帧数据
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/// </summary>
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/// <param name="jpegData">JPEG数据</param>
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/// <param name="boundary">边界字符串（默认为"--boundary"）</param>
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/// <returns>完整的MJPEG帧数据</returns>
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public static Result<byte[]> CreateMjpegFrame(byte[] jpegData, string boundary = "--boundary")
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{
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if (jpegData == null)
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return new(new ArgumentNullException(nameof(jpegData)));
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try
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{
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var header = CreateMjpegFrameHeader(jpegData.Length, boundary);
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var footer = CreateMjpegFrameFooter();
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var totalLength = header.Length + jpegData.Length + footer.Length;
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var frameData = new byte[totalLength];
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var offset = 0;
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Array.Copy(header, 0, frameData, offset, header.Length);
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offset += header.Length;
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Array.Copy(jpegData, 0, frameData, offset, jpegData.Length);
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offset += jpegData.Length;
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Array.Copy(footer, 0, frameData, offset, footer.Length);
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return frameData;
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}
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catch (Exception ex)
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{
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return new(ex);
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}
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}
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/// <summary>
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/// 验证图像数据长度是否正确
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/// </summary>
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/// <param name="data">图像数据</param>
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/// <param name="width">图像宽度</param>
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/// <param name="height">图像高度</param>
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/// <param name="bytesPerPixel">每像素字节数</param>
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/// <returns>验证结果</returns>
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public static bool ValidateImageDataLength(byte[] data, int width, int height, int bytesPerPixel)
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{
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if (data == null || width <= 0 || height <= 0 || bytesPerPixel <= 0)
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return false;
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var expectedLength = width * height * bytesPerPixel;
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return data.Length >= expectedLength;
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}
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/// <summary>
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/// 获取图像格式信息
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/// </summary>
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/// <param name="format">图像格式枚举</param>
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/// <returns>格式信息</returns>
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public static ImageFormatInfo GetImageFormatInfo(ImageFormat format)
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{
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return format switch
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{
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ImageFormat.RGB565 => new ImageFormatInfo("RGB565", 2, "16-bit RGB format (5R+6G+5B)"),
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ImageFormat.RGB24 => new ImageFormatInfo("RGB24", 3, "24-bit RGB format (8R+8G+8B)"),
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ImageFormat.RGBA32 => new ImageFormatInfo("RGBA32", 4, "32-bit RGBA format (8R+8G+8B+8A)"),
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ImageFormat.Grayscale8 => new ImageFormatInfo("Grayscale8", 1, "8-bit grayscale format"),
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_ => new ImageFormatInfo("Unknown", 0, "Unknown image format")
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};
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}
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}
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/// <summary>
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/// 图像格式枚举
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/// </summary>
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public enum ImageFormat
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{
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RGB565,
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RGB24,
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RGBA32,
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Grayscale8
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}
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/// <summary>
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/// 图像格式信息
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/// </summary>
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public record ImageFormatInfo(string Name, int BytesPerPixel, string Description);
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}
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@ -0,0 +1,66 @@
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using System.Net;
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using DotNext;
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namespace Peripherals.CameraClient;
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static class CameraAddr
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{
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public const UInt32 Base = 0x0000_0000;
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public const UInt32 FrameLength = 0x25800;
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}
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class Camera
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{
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private static readonly NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
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readonly int timeout = 2000;
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readonly int port;
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readonly string address;
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private IPEndPoint ep;
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/// <summary>
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/// 初始化摄像头客户端
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/// </summary>
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/// <param name="address">摄像头设备IP地址</param>
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/// <param name="port">摄像头设备端口</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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public Camera(string address, int port, int timeout = 2000)
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{
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if (timeout < 0)
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throw new ArgumentException("Timeout couldn't be negative", nameof(timeout));
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this.address = address;
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this.port = port;
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this.ep = new IPEndPoint(IPAddress.Parse(address), port);
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this.timeout = timeout;
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}
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/// <summary>
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/// 读取一帧图像数据
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/// </summary>
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/// <returns>包含图像数据的字节数组</returns>
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public async ValueTask<Result<byte[]>> ReadFrame()
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{
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// 清除UDP服务器接收缓冲区
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await MsgBus.UDPServer.ClearUDPData(this.address, 3);
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logger.Trace($"Clear up udp server {this.address} receive data");
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// 使用UDPClientPool读取图像帧数据
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var result = await UDPClientPool.ReadAddrBytes(
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this.ep,
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3, // taskID
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CameraAddr.Base,
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(int)CameraAddr.FrameLength,
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this.timeout);
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if (!result.IsSuccessful)
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{
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logger.Error($"Failed to read frame from camera {this.address}:{this.port}, error: {result.Error}");
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return new(result.Error);
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}
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logger.Debug($"Successfully read frame from camera {this.address}:{this.port}, data length: {result.Value.Length} bytes");
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return result.Value;
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}
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}
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@ -3,8 +3,10 @@ using System.Text;
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using SixLabors.ImageSharp;
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using SixLabors.ImageSharp.Formats.Jpeg;
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using SixLabors.ImageSharp.PixelFormats;
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using Peripherals.CameraClient; // 添加摄像头客户端引用
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namespace server.Services;
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/// <summary>
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/// HTTP 视频流服务，用于从 FPGA 获取图像数据并推送到前端网页
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/// 简化版本实现，先建立基础框架
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@ -18,6 +20,11 @@ public class HttpVideoStreamService : BackgroundService
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private readonly int _frameWidth = 640;
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private readonly int _frameHeight = 480;
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// 摄像头客户端
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private Camera? _camera;
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private readonly string _cameraAddress = "192.168.1.100"; // 根据实际FPGA地址配置
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private readonly int _cameraPort = 8888; // 根据实际端口配置
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// 模拟 FPGA 图像数据
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private int _frameCounter = 0;
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private readonly List<HttpListenerResponse> _activeClients = new List<HttpListenerResponse>();
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@ -62,6 +69,8 @@ public class HttpVideoStreamService : BackgroundService
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/// </summary>
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public HttpVideoStreamService()
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{
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// 初始化摄像头客户端
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_camera = new Camera(_cameraAddress, _cameraPort);
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}
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/// <summary>
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@ -353,57 +362,70 @@ public class HttpVideoStreamService : BackgroundService
|
|||
}
|
||||
|
||||
/// <summary>
|
||||
/// 模拟从 FPGA 获取图像数据的函数
|
||||
/// 实际实现时，这里应该通过 UDP 连接读取 FPGA 特定地址范围的数据
|
||||
/// 从 FPGA 获取图像数据
|
||||
/// 实际从摄像头读取 RGB565 格式数据并转换为 RGB24
|
||||
/// </summary>
|
||||
private async Task<byte[]> GetFPGAImageData()
|
||||
{
|
||||
// 模拟异步 FPGA 数据读取
|
||||
await Task.Delay(1);
|
||||
|
||||
// 简化的模拟图像数据生成
|
||||
var random = new Random(_frameCounter);
|
||||
var imageData = new byte[_frameWidth * _frameHeight * 3]; // RGB24 格式
|
||||
|
||||
// 生成简单的彩色噪声图案
|
||||
for (int i = 0; i < imageData.Length; i += 3)
|
||||
if (_camera == null)
|
||||
{
|
||||
// 基于帧计数器和位置生成颜色
|
||||
var baseColor = (_frameCounter + i / 3) % 256;
|
||||
imageData[i] = (byte)((baseColor + random.Next(0, 50)) % 256); // R
|
||||
imageData[i + 1] = (byte)((baseColor * 2 + random.Next(0, 50)) % 256); // G
|
||||
imageData[i + 2] = (byte)((baseColor * 3 + random.Next(0, 50)) % 256); // B
|
||||
logger.Error("摄像头客户端未初始化");
|
||||
return new byte[0];
|
||||
}
|
||||
|
||||
if (_frameCounter % 30 == 0) // 每秒更新一次日志
|
||||
try
|
||||
{
|
||||
logger.Debug("生成第 {FrameNumber} 帧", _frameCounter);
|
||||
}
|
||||
// 从摄像头读取帧数据
|
||||
var result = await _camera.ReadFrame();
|
||||
|
||||
if (!result.IsSuccessful)
|
||||
{
|
||||
logger.Error("读取摄像头帧数据失败: {Error}", result.Error);
|
||||
return new byte[0];
|
||||
}
|
||||
|
||||
return imageData;
|
||||
var rgb565Data = result.Value;
|
||||
|
||||
// 验证数据长度是否正确
|
||||
if (!Common.Image.ValidateImageDataLength(rgb565Data, _frameWidth, _frameHeight, 2))
|
||||
{
|
||||
logger.Warn("摄像头数据长度不匹配，期望: {Expected}, 实际: {Actual}",
|
||||
_frameWidth * _frameHeight * 2, rgb565Data.Length);
|
||||
}
|
||||
|
||||
// 将 RGB565 转换为 RGB24
|
||||
var rgb24Result = Common.Image.ConvertRGB565ToRGB24(rgb565Data, _frameWidth, _frameHeight);
|
||||
if (!rgb24Result.IsSuccessful)
|
||||
{
|
||||
logger.Error("RGB565转RGB24失败: {Error}", rgb24Result.Error);
|
||||
return new byte[0];
|
||||
}
|
||||
|
||||
if (_frameCounter % 30 == 0) // 每秒更新一次日志
|
||||
{
|
||||
logger.Debug("成功获取第 {FrameNumber} 帧，RGB565大小: {RGB565Size} 字节, RGB24大小: {RGB24Size} 字节",
|
||||
_frameCounter, rgb565Data.Length, rgb24Result.Value.Length);
|
||||
}
|
||||
|
||||
return rgb24Result.Value;
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
logger.Error(ex, "获取FPGA图像数据时发生错误");
|
||||
return new byte[0];
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 将 RGB 图像数据转换为 JPEG 格式
|
||||
/// </summary>
|
||||
private byte[] ConvertToJpeg(byte[] rgbData)
|
||||
private async Task<byte[]> ConvertToJpeg(byte[] rgbData)
|
||||
{
|
||||
using var image = new Image<Rgb24>(_frameWidth, _frameHeight);
|
||||
|
||||
// 将 RGB 数据复制到 ImageSharp 图像
|
||||
for (int y = 0; y < _frameHeight; y++)
|
||||
var jpegResult = Common.Image.ConvertRGB24ToJpeg(rgbData, _frameWidth, _frameHeight, 80);
|
||||
if (!jpegResult.IsSuccessful)
|
||||
{
|
||||
for (int x = 0; x < _frameWidth; x++)
|
||||
{
|
||||
int index = (y * _frameWidth + x) * 3;
|
||||
var pixel = new Rgb24(rgbData[index], rgbData[index + 1], rgbData[index + 2]);
|
||||
image[x, y] = pixel;
|
||||
}
|
||||
logger.Error("RGB24转JPEG失败: {Error}", jpegResult.Error);
|
||||
return new byte[0];
|
||||
}
|
||||
|
||||
using var stream = new MemoryStream();
|
||||
image.SaveAsJpeg(stream, new JpegEncoder { Quality = 80 });
|
||||
return stream.ToArray();
|
||||
|
||||
return jpegResult.Value;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
|
|
@ -417,9 +439,9 @@ public class HttpVideoStreamService : BackgroundService
|
|||
return;
|
||||
}
|
||||
|
||||
// 准备MJPEG帧数据
|
||||
var mjpegFrameHeader = $"--boundary\r\nContent-Type: image/jpeg\r\nContent-Length: {frameData.Length}\r\n\r\n";
|
||||
var headerBytes = Encoding.ASCII.GetBytes(mjpegFrameHeader);
|
||||
// 使用Common中的方法准备MJPEG帧数据
|
||||
var mjpegFrameHeader = Common.Image.CreateMjpegFrameHeader(frameData.Length);
|
||||
var mjpegFrameFooter = Common.Image.CreateMjpegFrameFooter();
|
||||
|
||||
var clientsToRemove = new List<HttpListenerResponse>();
|
||||
var clientsToProcess = new List<HttpListenerResponse>();
|
||||
|
|
@ -441,13 +463,13 @@ public class HttpVideoStreamService : BackgroundService
|
|||
try
|
||||
{
|
||||
// 发送帧头部
|
||||
await client.OutputStream.WriteAsync(headerBytes, 0, headerBytes.Length, cancellationToken);
|
||||
await client.OutputStream.WriteAsync(mjpegFrameHeader, 0, mjpegFrameHeader.Length, cancellationToken);
|
||||
|
||||
// 发送JPEG数据
|
||||
await client.OutputStream.WriteAsync(frameData, 0, frameData.Length, cancellationToken);
|
||||
|
||||
// 发送结尾换行符
|
||||
await client.OutputStream.WriteAsync(Encoding.ASCII.GetBytes("\r\n"), 0, 2, cancellationToken);
|
||||
await client.OutputStream.WriteAsync(mjpegFrameFooter, 0, mjpegFrameFooter.Length, cancellationToken);
|
||||
|
||||
// 确保数据立即发送
|
||||
await client.OutputStream.FlushAsync(cancellationToken);
|
||||
|
|
|
|||
|
|
@ -177,13 +177,13 @@ public class UDPClientPool
|
|||
}
|
||||
|
||||
/// <summary>
|
||||
/// [TODO:description]
|
||||
/// 读取设备地址数据
|
||||
/// </summary>
|
||||
/// <param name="endPoint">[TODO:parameter]</param>
|
||||
/// <param name="taskID">[TODO:parameter]</param>
|
||||
/// <param name="devAddr">[TODO:parameter]</param>
|
||||
/// <param name="timeout">[TODO:parameter]</param>
|
||||
/// <returns>[TODO:return]</returns>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>读取结果，包含接收到的数据包</returns>
|
||||
public static async ValueTask<Result<RecvDataPackage>> ReadAddr(
|
||||
IPEndPoint endPoint, int taskID, uint devAddr, int timeout = 1000)
|
||||
{
|
||||
|
|
@ -218,15 +218,15 @@ public class UDPClientPool
|
|||
}
|
||||
|
||||
/// <summary>
|
||||
/// [TODO:description]
|
||||
/// 读取设备地址数据并校验结果
|
||||
/// </summary>
|
||||
/// <param name="endPoint">[TODO:parameter]</param>
|
||||
/// <param name="taskID">[TODO:parameter]</param>
|
||||
/// <param name="devAddr">[TODO:parameter]</param>
|
||||
/// <param name="result">[TODO:parameter]</param>
|
||||
/// <param name="resultMask">[TODO:parameter]</param>
|
||||
/// <param name="timeout">[TODO:parameter]</param>
|
||||
/// <returns>[TODO:return]</returns>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="result">期望的结果值</param>
|
||||
/// <param name="resultMask">结果掩码，用于位校验</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>校验结果，true表示数据匹配期望值</returns>
|
||||
public static async ValueTask<Result<bool>> ReadAddr(
|
||||
IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int timeout = 1000)
|
||||
{
|
||||
|
|
@ -257,15 +257,15 @@ public class UDPClientPool
|
|||
}
|
||||
|
||||
/// <summary>
|
||||
/// [TODO:description]
|
||||
/// 读取设备地址数据并等待直到结果匹配或超时
|
||||
/// </summary>
|
||||
/// <param name="endPoint">[TODO:parameter]</param>
|
||||
/// <param name="taskID">[TODO:parameter]</param>
|
||||
/// <param name="devAddr">[TODO:parameter]</param>
|
||||
/// <param name="result">[TODO:parameter]</param>
|
||||
/// <param name="resultMask">[TODO:parameter]</param>
|
||||
/// <param name="timeout">[TODO:parameter]</param>
|
||||
/// <returns>[TODO:return]</returns>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="result">期望的结果值</param>
|
||||
/// <param name="resultMask">结果掩码，用于位校验</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>校验结果，true表示在超时前数据匹配期望值</returns>
|
||||
public static async ValueTask<Result<bool>> ReadAddrWithWait(
|
||||
IPEndPoint endPoint, int taskID, uint devAddr, UInt32 result, UInt32 resultMask, int timeout = 1000)
|
||||
{
|
||||
|
|
@ -305,16 +305,93 @@ public class UDPClientPool
|
|||
return false;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 从设备地址读取字节数组数据（支持大数据量分段传输）
|
||||
/// </summary>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="dataLength">要读取的数据长度（字节）</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>读取结果，包含接收到的字节数组</returns>
|
||||
public static async ValueTask<Result<byte[]>> ReadAddrBytes(
|
||||
IPEndPoint endPoint, int taskID, UInt32 devAddr, int dataLength, int timeout = 1000)
|
||||
{
|
||||
var ret = false;
|
||||
var opts = new SendAddrPackOptions();
|
||||
var resultData = new List<byte>();
|
||||
|
||||
opts.BurstType = BurstType.FixedBurst;
|
||||
opts.CommandID = Convert.ToByte(taskID);
|
||||
opts.Address = devAddr;
|
||||
opts.IsWrite = false;
|
||||
|
||||
// Check Msg Bus
|
||||
if (!MsgBus.IsRunning)
|
||||
return new(new Exception("Message bus not working!"));
|
||||
|
||||
// Calculate read times and segments
|
||||
var maxBytesPerRead = 256 * (32 / 8); // 1024 bytes per read
|
||||
var hasRest = dataLength % maxBytesPerRead != 0;
|
||||
var readTimes = hasRest ?
|
||||
dataLength / maxBytesPerRead + 1 :
|
||||
dataLength / maxBytesPerRead;
|
||||
|
||||
for (var i = 0; i < readTimes; i++)
|
||||
{
|
||||
// Calculate current segment size
|
||||
var isLastSegment = i == readTimes - 1;
|
||||
var currentSegmentSize = isLastSegment && hasRest ?
|
||||
dataLength % maxBytesPerRead :
|
||||
maxBytesPerRead;
|
||||
|
||||
// Set burst length (in 32-bit words)
|
||||
opts.BurstLength = (byte)(currentSegmentSize / 4 - 1);
|
||||
|
||||
// Update address for current segment
|
||||
opts.Address = devAddr + (uint)(i * maxBytesPerRead);
|
||||
|
||||
// Send read address package
|
||||
ret = await UDPClientPool.SendAddrPackAsync(endPoint, new SendAddrPackage(opts));
|
||||
if (!ret) return new(new Exception($"Send address package failed at segment {i}!"));
|
||||
|
||||
// Wait for data response
|
||||
var retPack = await MsgBus.UDPServer.WaitForDataAsync(
|
||||
endPoint.Address.ToString(), taskID, endPoint.Port, timeout);
|
||||
if (!retPack.IsSuccessful) return new(retPack.Error);
|
||||
|
||||
if (!retPack.Value.IsSuccessful)
|
||||
return new(new Exception($"Read address package failed at segment {i}"));
|
||||
|
||||
var retPackOpts = retPack.Value.Options;
|
||||
if (retPackOpts.Data is null)
|
||||
return new(new Exception($"Data is null at segment {i}, package: {retPackOpts.ToString()}"));
|
||||
|
||||
// Validate received data length
|
||||
if (retPackOpts.Data.Length != currentSegmentSize)
|
||||
return new(new Exception($"Expected {currentSegmentSize} bytes but received {retPackOpts.Data.Length} bytes at segment {i}"));
|
||||
|
||||
// Add received data to result
|
||||
resultData.AddRange(retPackOpts.Data);
|
||||
}
|
||||
|
||||
// Validate total data length
|
||||
if (resultData.Count != dataLength)
|
||||
return new(new Exception($"Expected total {dataLength} bytes but received {resultData.Count} bytes"));
|
||||
|
||||
return resultData.ToArray();
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// [TODO:description]
|
||||
/// 向设备地址写入32位数据
|
||||
/// </summary>
|
||||
/// <param name="endPoint">[TODO:parameter]</param>
|
||||
/// <param name="taskID">[TODO:parameter]</param>
|
||||
/// <param name="devAddr">[TODO:parameter]</param>
|
||||
/// <param name="data">[TODO:parameter]</param>
|
||||
/// <param name="timeout">[TODO:parameter]</param>
|
||||
/// <returns>[TODO:return]</returns>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="data">要写入的32位数据</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>写入结果，true表示写入成功</returns>
|
||||
public static async ValueTask<Result<bool>> WriteAddr(
|
||||
IPEndPoint endPoint, int taskID, UInt32 devAddr, UInt32 data, int timeout = 1000)
|
||||
{
|
||||
|
|
@ -348,14 +425,14 @@ public class UDPClientPool
|
|||
}
|
||||
|
||||
/// <summary>
|
||||
/// [TODO:description]
|
||||
/// 向设备地址写入字节数组数据（支持大数据量分段传输）
|
||||
/// </summary>
|
||||
/// <param name="endPoint">[TODO:parameter]</param>
|
||||
/// <param name="taskID">[TODO:parameter]</param>
|
||||
/// <param name="devAddr">[TODO:parameter]</param>
|
||||
/// <param name="dataArray">[TODO:parameter]</param>
|
||||
/// <param name="timeout">[TODO:parameter]</param>
|
||||
/// <returns>[TODO:return]</returns>
|
||||
/// <param name="endPoint">IP端点（IP地址与端口）</param>
|
||||
/// <param name="taskID">任务ID</param>
|
||||
/// <param name="devAddr">设备地址</param>
|
||||
/// <param name="dataArray">要写入的字节数组</param>
|
||||
/// <param name="timeout">超时时间（毫秒）</param>
|
||||
/// <returns>写入结果，true表示写入成功</returns>
|
||||
public static async ValueTask<Result<bool>> WriteAddr(
|
||||
IPEndPoint endPoint, int taskID, UInt32 devAddr, byte[] dataArray, int timeout = 1000)
|
||||
{
|
||||
|
|
@ -404,5 +481,4 @@ public class UDPClientPool
|
|||
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue