feat: 添加大数据接收方法，以提高接受速度

server/src/Peripherals/CameraClient.cs

@@ -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);
 

server/src/UdpClientPool.cs

@@ -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>

server/src/UdpServer.cs

@@ -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>