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feat: 添加大数据接收方法，以提高接受速度

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SikongJueluo
2025-07-13 11:40:41 +08:00
parent b913f58f13
commit 32b126b93f
3 changed files with 201 additions and 7 deletions
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8
server/src/Peripherals/CameraClient.cs
View File

@@ -179,12 +179,12 @@ class Camera
logger.Trace($"Reading frame from camera {this.address}");
// 使用UDPClientPool读取图像帧数据
var result = await UDPClientPool.ReadAddr4Bytes(
var result = await UDPClientPool.ReadAddr4BytesAsync(
this.ep,
this.taskID, // taskID
FrameAddr,
// ((int)FrameLength),
1280*720/2,
1280 * 720 / 2,
this.timeout);
if (!result.IsSuccessful)
@@ -276,7 +276,7 @@ class Camera
/// <param name="vWindow">垂直窗口大小（默认1300）</param>
/// <returns>配置结果</returns>
public async ValueTask<Result<bool>> ConfigureResolution(
UInt16 hStart, UInt16 vStart,
UInt16 hStart, UInt16 vStart,
UInt16 dvpHo, UInt16 dvpVo,
UInt16 hts, UInt16 vts,
UInt16 hOffset, UInt16 vOffset,
@@ -285,7 +285,7 @@ class Camera
// 计算结束位置
UInt16 hEnd = (UInt16)(hStart + hWindow - 1);
UInt16 vEnd = (UInt16)(vStart + vWindow - 1);
// 计算帧长度
UInt32 frameLength = (UInt32)(dvpHo * dvpVo * 16 / 32);

107
server/src/UdpClientPool.cs
View File

@@ -380,6 +380,113 @@ public class UDPClientPool
}
/// <summary>
/// 从设备地址读取字节数组数据（支持大数据量分段传输，先发送所有地址包再接收所有数据包）
/// </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（4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[]>> ReadAddr4BytesAsync(
IPEndPoint endPoint, int taskID, UInt32 devAddr, int dataLength, int timeout = 1000)
{
var optsList = new List<SendAddrPackOptions>();
var resultData = new List<byte>();
// Check Msg Bus
if (!MsgBus.IsRunning)
return new(new Exception("Message bus not working!"));
// Prepare options for each segment
var max4BytesPerRead = 0x80; // 512 bytes per read
var rest4Bytes = dataLength % max4BytesPerRead;
var readTimes = (rest4Bytes != 0) ?
(dataLength / max4BytesPerRead + 1) :
(dataLength / max4BytesPerRead);
for (var i = 0; i < readTimes; i++)
{
var isLastSegment = i == readTimes - 1;
var currentSegmentSize = (isLastSegment && rest4Bytes != 0) ? rest4Bytes : max4BytesPerRead;
var opts = new SendAddrPackOptions
{
BurstType = BurstType.FixedBurst,
CommandID = Convert.ToByte(taskID),
IsWrite = false,
BurstLength = (byte)(currentSegmentSize - 1),
Address = devAddr + (uint)(i * max4BytesPerRead)
};
optsList.Add(opts);
}
// Send all address packages first, but keep outstanding < 512
int sentCount = 0;
var startTime = DateTime.Now;
while (sentCount < optsList.Count)
{
// Check how many data packets have been received
var elapsed = DateTime.Now - startTime;
if (elapsed >= TimeSpan.FromMilliseconds(timeout))
break;
var timeleft = timeout - (int)elapsed.TotalMilliseconds;
var found = await MsgBus.UDPServer.GetDataCountAsync(endPoint.Address.ToString(), taskID, timeleft);
int outstanding = sentCount - (found.HasValue ? found.Value : 0);
// If outstanding >= 512, wait for some data to be received
if (outstanding >= 512)
continue;
// Send next address package
var ret = await UDPClientPool.SendAddrPackAsync(endPoint, new SendAddrPackage(optsList[sentCount]));
if (!ret) return new(new Exception($"Send address package failed at segment {sentCount}!"));
sentCount++;
}
// Wait until enough data is received or timeout
startTime = DateTime.Now;
List<UDPData>? udpDatas = null;
while (true)
{
var elapsed = DateTime.Now - startTime;
if (elapsed >= TimeSpan.FromMilliseconds(timeout)) break;
var timeleft = timeout - (int)elapsed.TotalMilliseconds;
var found = await MsgBus.UDPServer.GetDataCountAsync(endPoint.Address.ToString(), taskID, timeleft);
if (found.HasValue && found.Value >= readTimes)
{
var dataArr = await MsgBus.UDPServer.FindDataArrayAsync(endPoint.Address.ToString(), taskID, timeleft);
if (dataArr.HasValue)
{
udpDatas = dataArr.Value;
break;
}
}
}
if (udpDatas is null || udpDatas.Count < readTimes)
return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas?.Count ?? 0}"));
// Collect and validate all received data
for (var i = 0; i < udpDatas.Count; i++)
{
var bytes = udpDatas[i].Data;
var expectedLen = ((optsList[i].BurstLength + 1) * 4);
if (bytes.Length != expectedLen)
return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length} bytes at segment {i}"));
resultData.AddRange(bytes);
}
// Validate total data length
if (resultData.Count != dataLength * 4)
return new(new Exception($"Expected total {dataLength * 4} bytes but received {resultData.Count} bytes"));
return resultData.ToArray();
}
/// <summary>
/// 向设备地址写入32位数据
/// </summary>

93
server/src/UdpServer.cs
View File

@@ -183,15 +183,59 @@ public class UDPServer
}
}
/// <summary>
/// 异步寻找目标发送的所有内容，并清空队列
/// </summary>
/// <param name="ipAddr">目标IP地址</param>
/// <param name="taskID">任务ID</param>
/// <param name="timeout">超时时间</param>
/// <returns>异步Optional 数据包列表</returns>
public async ValueTask<Optional<List<UDPData>>> FindDataArrayAsync(string ipAddr, int taskID, int timeout = 1000)
{
List<UDPData>? data = null;
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.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
dataQueue.Count > 0)
{
data = dataQueue.ToList();
dataQueue.Clear();
break;
}
}
}
if (data is null)
{
logger.Trace("Get nothing even after time out");
return new(null);
}
else
{
return new(data);
}
}
/// <summary>
/// 获取还未被读取的数据列表
/// </summary>
/// <param name="ipAddr">IP地址</param>
/// <param name="taskID">[TODO:parameter]</param>
/// <param name="taskID">任务ID</param>
/// <param name="timeout">超时时间</param>
/// <param name="cycle">延迟时间</param>
/// <returns>数据列表</returns>
public async ValueTask<Optional<List<UDPData>>> GetDataArrayAsync(string ipAddr, int taskID, int timeout = 1000, int cycle = 0)
public async ValueTask<Optional<List<UDPData>>> GetDataArrayAsync(string ipAddr, int taskID, int timeout = 1000)
{
List<UDPData>? data = null;
@@ -229,6 +273,49 @@ public class UDPServer
}
}
/// <summary>
/// 异步获取指定IP和任务ID的数据队列长度
/// </summary>
/// <param name="ipAddr">IP地址</param>
/// <param name="taskID">任务ID</param>
/// <param name="timeout">超时时间</param>
/// <returns>数据队列长度</returns>
public async ValueTask<Optional<int>> GetDataCountAsync(string ipAddr, int taskID, int timeout = 1000)
{
int? count = null;
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.ContainsKey($"{ipAddr}-{taskID}") &&
udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
{
count = dataQueue.Count;
break;
}
}
}
if (count is null)
{
logger.Trace("Get nothing even after time out");
return Optional<int>.None;
}
else
{
return new(count.Value);
}
}
/// <summary>
/// 异步等待写响应
/// </summary>