From 2894ee24be8e11349c5a24bb5b6d3e9e4b210704 Mon Sep 17 00:00:00 2001 From: SikongJueluo Date: Mon, 14 Jul 2025 13:30:16 +0800 Subject: [PATCH] =?UTF-8?q?feat:=20=E5=AE=9E=E7=8E=B0udp=E5=B9=B6=E5=8F=91?= =?UTF-8?q?=E6=8E=A5=E5=8F=97=E6=95=B0=E6=8D=AE=EF=BC=9F=EF=BC=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- server/src/Peripherals/CameraClient.cs | 529 +++++++++++++------------ server/src/UdpServer.cs | 162 ++++---- 2 files changed, 354 insertions(+), 337 deletions(-) diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs index e207999..e4a7d5f 100644 --- a/server/src/Peripherals/CameraClient.cs +++ b/server/src/Peripherals/CameraClient.cs @@ -237,6 +237,33 @@ class Camera return result.Value; } + /// + /// 读取摄像头寄存器 + /// + /// 寄存器地址 + /// 读取到的寄存器值 + private async ValueTask> ReadRegister(UInt16 registerAddr) + { + var i2c = new Peripherals.I2cClient.I2c(this.address, this.port, this.taskID, this.timeout); + + // 地址高低字节 + var addrBytes = new byte[2]; + addrBytes[0] = (byte)(registerAddr >> 8); + addrBytes[1] = (byte)(registerAddr & 0xFF); + + // 先写寄存器地址 + var writeResult = await i2c.WriteData(CAM_I2C_ADDR, addrBytes, CAM_PROTO); + if (!writeResult.IsSuccessful) + return new(writeResult.Error); + + // 再读一个字节 + var readResult = await i2c.ReadData(CAM_I2C_ADDR, 1, CAM_PROTO); + if (!readResult.IsSuccessful) + return new(readResult.Error); + + return readResult.Value[0]; + } + /// /// 批量配置I2C寄存器 /// @@ -260,7 +287,7 @@ class Camera var address = cmd[0]; i2cData[0] = (byte)(address >> 8); // 地址高位 i2cData[1] = (byte)(address & 0xFF); // 地址低位 - + // 复制数据部分 for (int i = 1; i < cmd.Length; i++) { @@ -948,250 +975,250 @@ class Camera private static readonly UInt16[] OV5640_AF_FIRMWARE = [ 0x02, 0x0d, 0xf3, 0x02, 0x0a, 0x5f, 0xc2, 0x01, 0x22, 0x22, 0x00, 0x02, 0x0f, 0x31, 0x30, 0x01, - 0x03, 0x02, 0x03, 0x09, 0x30, 0x02, 0x03, 0x02, 0x03, 0x09, 0x90, 0x51, 0xa5, 0xe0, 0x78, 0xbb, - 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0x22, 0xd2, 0x01, + 0xc2, 0x02, 0xe4, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0xd2, 0x35, 0xd2, 0x01, 0xc2, + 0x02, 0xf5, 0x1f, 0xf5, 0x1e, 0xd2, 0x34, 0xd2, 0x32, 0x22, 0x2d, 0xfd, 0xe4, 0x33, 0xfc, 0xe4, + 0x93, 0xfe, 0xfb, 0xd3, 0xed, 0x9b, 0x74, 0x80, 0xf8, 0x6c, 0x98, 0x22, 0x8f, 0x3b, 0x8e, 0x3a, + 0x8d, 0x39, 0x8c, 0x38, 0x22, 0x12, 0x07, 0x32, 0x8f, 0x31, 0x8e, 0x30, 0x8d, 0x2f, 0x8c, 0x2e, + 0x22, 0x93, 0xf9, 0xf8, 0x02, 0x07, 0x1f, 0x90, 0x0e, 0x81, 0x12, 0x07, 0x32, 0x8f, 0x46, 0x8e, + 0x45, 0x8d, 0x44, 0x8c, 0x43, 0xd2, 0x06, 0x30, 0x06, 0x03, 0xd3, 0x80, 0x01, 0xc3, 0x92, 0x0e, + 0x22, 0xc0, 0xe0, 0xc0, 0x83, 0xc0, 0x82, 0x90, 0x3f, 0x0d, 0xe0, 0xf5, 0x33, 0xe5, 0x33, 0xf0, + 0xd0, 0x82, 0xd0, 0x83, 0xd0, 0xe0, 0x32, 0xe4, 0x93, 0xfe, 0x74, 0x01, 0x93, 0xf5, 0x82, 0x8e, 0x83, 0x22, 0x8f, 0x82, 0x8e, 0x83, 0x75, 0xf0, 0x04, 0xed, 0x02, 0x07, 0x5b ]; @@ -1213,7 +1240,7 @@ class Camera UInt16 addr = (UInt16)(firmwareAddr + i); firmwareCommands.Add([addr, OV5640_AF_FIRMWARE[i]]); } - + var result = await ConfigureRegisters(firmwareCommands.ToArray()); if (!result.IsSuccessful) { @@ -1283,7 +1310,7 @@ class Camera // 步骤2: 读取寄存器 0x3029 的状态，如果返回值为 0x10，代表对焦已完成 int iteration = 5000; byte focusStatus = 0x00; - + do { var readResult = await ReadRegister(0x3029); @@ -1292,21 +1319,21 @@ class Camera logger.Error($"读取对焦状态寄存器(0x3029)失败: {readResult.Error}"); return new(readResult.Error); } - + focusStatus = readResult.Value; - + if (focusStatus == 0x10) { logger.Info("对焦已完成 (0x3029 = 0x10)"); break; } - + if (iteration-- == 0) { logger.Error($"自动对焦超时，状态: 0x{focusStatus:X2}"); return new(new Exception($"自动对焦超时，状态: 0x{focusStatus:X2}")); } - + await Task.Delay(10); } while (focusStatus != 0x10); diff --git a/server/src/UdpServer.cs b/server/src/UdpServer.cs index 88eeac5..a1921b2 100644 --- a/server/src/UdpServer.cs +++ b/server/src/UdpServer.cs @@ -1,9 +1,9 @@ +using System.Collections.Concurrent; using System.Net; using System.Net.Sockets; using System.Runtime.CompilerServices; using System.Text; using DotNext; -using DotNext.Threading; using Newtonsoft.Json; using WebProtocol; @@ -72,9 +72,11 @@ public class UDPServer { private static NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger(); - private Dictionary> udpData = new Dictionary>(); + private ConcurrentDictionary> udpData = new ConcurrentDictionary>(); - private Semaphore taskPool = new Semaphore(3, 3); + const int parallelTaskNum = 5; + Task[] ReceiveTasks = new Task[parallelTaskNum]; + private int runningTaskNum = 0; private int listenPort; private UdpClient listener; @@ -145,28 +147,19 @@ public class UDPServer { UDPData? data = null; - // logger.Debug($"Caller \"{callerName}|{callerLineNum}\": Try to find {ipAddr}-{taskID} UDP Data"); - var startTime = DateTime.Now; var isTimeout = false; - var timeleft = TimeSpan.FromMilliseconds(timeout); while (!isTimeout) { var elapsed = DateTime.Now - startTime; isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout); if (isTimeout) break; - timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed; - using (await udpData.AcquireWriteLockAsync(timeleft)) + if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && + dataQueue.TryDequeue(out data)) { - if (udpData.ContainsKey($"{ipAddr}-{taskID}") && - udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && - dataQueue.Count > 0) - { - data = dataQueue.Dequeue(); - // logger.Debug($"Find UDP Data: {data.ToString()}"); - break; - } + // logger.Debug($"Find UDP Data: {data.ToString()}"); + break; } await Task.Delay(cycle); @@ -196,24 +189,21 @@ public class UDPServer var startTime = DateTime.Now; var isTimeout = false; - var timeleft = TimeSpan.FromMilliseconds(timeout); while (!isTimeout) { var elapsed = DateTime.Now - startTime; isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout); if (isTimeout) break; - timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed; - using (await udpData.AcquireWriteLockAsync(timeleft)) + if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && + !dataQueue.IsEmpty) { - if (udpData.ContainsKey($"{ipAddr}-{taskID}") && - udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && - dataQueue.Count > 0) + data = new List(); + while (dataQueue.TryDequeue(out var item)) { - data = dataQueue.ToList(); - dataQueue.Clear(); - break; + data.Add(item); } + break; } } @@ -241,24 +231,18 @@ public class UDPServer var startTime = DateTime.Now; var isTimeout = false; - var timeleft = TimeSpan.FromMilliseconds(timeout); while (!isTimeout) { var elapsed = DateTime.Now - startTime; isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout); if (isTimeout) break; - timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed; - using (await udpData.AcquireReadLockAsync(timeleft)) + if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && + !dataQueue.IsEmpty) { - if (udpData.ContainsKey($"{ipAddr}-{taskID}") && - udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && - dataQueue.Count > 0) - { - data = dataQueue.ToList(); - // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}"); - break; - } + data = dataQueue.ToArray().ToList(); + // logger.Debug($"Find UDP Data Array: {JsonConvert.SerializeObject(data)}"); + break; } } @@ -286,22 +270,16 @@ public class UDPServer var startTime = DateTime.Now; var isTimeout = false; - var timeleft = TimeSpan.FromMilliseconds(timeout); while (!isTimeout) { var elapsed = DateTime.Now - startTime; isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout); if (isTimeout) break; - timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed; - using (await udpData.AcquireReadLockAsync(timeleft)) + if (udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue)) { - if (udpData.ContainsKey($"{ipAddr}-{taskID}") && - udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue)) - { - count = dataQueue.Count; - break; - } + count = dataQueue.Count; + break; } } @@ -367,17 +345,21 @@ public class UDPServer return retPack.Value; } - static int ReceiveHandleCcount = 0; private void ReceiveHandler(IAsyncResult res) { var remoteEP = new IPEndPoint(IPAddress.Any, listenPort); byte[] bytes = listener.EndReceive(res, ref remoteEP); - // 提前开始接收下一个包 - listener.BeginReceive(new AsyncCallback(ReceiveHandler), null); - logger.Debug($"Test ReceiveHandler Count = {ReceiveHandleCcount}"); - ReceiveHandleCcount++; + // 继续异步接收 + if (isRunning) + { + listener.BeginReceive(new AsyncCallback(ReceiveHandler), null); + } + else + { + runningTaskNum--; + } // Handle RemoteEP if (remoteEP is null) @@ -426,23 +408,11 @@ public class UDPServer HasRead = false, }; - using (udpData.AcquireWriteLock()) - { - // Record UDP Receive Data - if (udpData.ContainsKey($"{remoteAddress}-{taskID}") && - udpData.TryGetValue($"{remoteAddress}-{taskID}", out var dataQueue)) - { - dataQueue.Enqueue(data); - logger.Debug($"Test Lock dataQueue.Count = {dataQueue.Count}"); - } - else - { - var queue = new Queue(); - queue.Enqueue(data); - udpData.Add($"{remoteAddress}-{taskID}", queue); - logger.Trace("Receive data from new client"); - } - } + var key = $"{remoteAddress}-{taskID}"; + var dataQueue = udpData.GetOrAdd(key, _ => new ConcurrentQueue()); + dataQueue.Enqueue(data); + + logger.Debug($"Test dataQueue.Count = {dataQueue.Count}"); return data; } @@ -497,16 +467,13 @@ public class UDPServer /// void public void PrintAllData() { - using (udpData.AcquireReadLock()) - { - // logger.Debug("Ready Data:"); + logger.Debug("Ready Data:"); - foreach (var ip in udpData) + foreach (var kvp in udpData) + { + foreach (var data in kvp.Value) { - foreach (var data in ip.Value) - { - // logger.Debug(data.ToString()); - } + logger.Debug(data.ToString()); } } } @@ -519,35 +486,58 @@ public class UDPServer /// 无 public async Task ClearUDPData(string ipAddr, int taskID) { - using (await udpData.AcquireWriteLockAsync()) + var key = $"{ipAddr}-{taskID}"; + if (udpData.TryGetValue(key, out var dataQueue)) { - if (udpData.ContainsKey($"{ipAddr}-{taskID}") && - udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) && - dataQueue.Count > 0) - { - dataQueue.Clear(); - } + // 清空队列的最有效方式是替换为新的队列 + udpData.TryUpdate(key, new ConcurrentQueue(), dataQueue); } } - /// /// Start UDP Server /// /// None public void Start() { + this.isRunning = true; try { - this.listener.BeginReceive(new AsyncCallback(ReceiveHandler), null); + Task.Run(() => + { + while (isRunning) + { + if (runningTaskNum < parallelTaskNum) + { + StartReceive(); + logger.Debug($"Begin Receive Task, Now Running Num: {runningTaskNum + 1}"); + runningTaskNum++; + } + Task.Delay(100).Wait(); + } + }); } catch (Exception e) { Console.WriteLine(e.ToString()); + this.isRunning = false; } - finally + } + + private void StartReceive(int times = 5) + { + + for (int i = 0; i < times; i++) { - this.isRunning = true; + try + { + this.listener.BeginReceive(new AsyncCallback(ReceiveHandler), null); + break; // BeginReceive is async, break after scheduling + } + catch (Exception ex) + { + Console.WriteLine(ex.ToString()); + } } }