feat: 添加大数据接收方法，以提高接受速度
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@ -179,7 +179,7 @@ class Camera
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logger.Trace($"Reading frame from camera {this.address}");
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// 使用UDPClientPool读取图像帧数据
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var result = await UDPClientPool.ReadAddr4Bytes(
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var result = await UDPClientPool.ReadAddr4BytesAsync(
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this.ep,
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this.taskID, // taskID
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FrameAddr,
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@ -380,6 +380,113 @@ public class UDPClientPool
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}
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/// <summary>
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/// 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）
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/// </summary>
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/// <param name="endPoint">IP端点（IP地址与端口）</param>
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/// <param name="taskID">任务ID</param>
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/// <param name="devAddr">设备地址</param>
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/// <param name="dataLength">要读取的数据长度（4字节）</param>
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/// <param name="timeout">超时时间（毫秒）</param>
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/// <returns>读取结果，包含接收到的字节数组</returns>
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public static async ValueTask<Result<byte[]>> ReadAddr4BytesAsync(
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IPEndPoint endPoint, int taskID, UInt32 devAddr, int dataLength, int timeout = 1000)
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{
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var optsList = new List<SendAddrPackOptions>();
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var resultData = new List<byte>();
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// Check Msg Bus
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if (!MsgBus.IsRunning)
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return new(new Exception("Message bus not working!"));
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// Prepare options for each segment
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var max4BytesPerRead = 0x80; // 512 bytes per read
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var rest4Bytes = dataLength % max4BytesPerRead;
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var readTimes = (rest4Bytes != 0) ?
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(dataLength / max4BytesPerRead + 1) :
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(dataLength / max4BytesPerRead);
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for (var i = 0; i < readTimes; i++)
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{
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var isLastSegment = i == readTimes - 1;
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var currentSegmentSize = (isLastSegment && rest4Bytes != 0) ? rest4Bytes : max4BytesPerRead;
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var opts = new SendAddrPackOptions
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{
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BurstType = BurstType.FixedBurst,
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CommandID = Convert.ToByte(taskID),
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IsWrite = false,
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BurstLength = (byte)(currentSegmentSize - 1),
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Address = devAddr + (uint)(i * max4BytesPerRead)
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};
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optsList.Add(opts);
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}
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// Send all address packages first, but keep outstanding < 512
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int sentCount = 0;
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var startTime = DateTime.Now;
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while (sentCount < optsList.Count)
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{
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// Check how many data packets have been received
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var elapsed = DateTime.Now - startTime;
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if (elapsed >= TimeSpan.FromMilliseconds(timeout))
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break;
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var timeleft = timeout - (int)elapsed.TotalMilliseconds;
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var found = await MsgBus.UDPServer.GetDataCountAsync(endPoint.Address.ToString(), taskID, timeleft);
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int outstanding = sentCount - (found.HasValue ? found.Value : 0);
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// If outstanding >= 512, wait for some data to be received
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if (outstanding >= 512)
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continue;
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// Send next address package
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var ret = await UDPClientPool.SendAddrPackAsync(endPoint, new SendAddrPackage(optsList[sentCount]));
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if (!ret) return new(new Exception($"Send address package failed at segment {sentCount}!"));
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sentCount++;
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}
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// Wait until enough data is received or timeout
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startTime = DateTime.Now;
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List<UDPData>? udpDatas = null;
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while (true)
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{
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var elapsed = DateTime.Now - startTime;
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if (elapsed >= TimeSpan.FromMilliseconds(timeout)) break;
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var timeleft = timeout - (int)elapsed.TotalMilliseconds;
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var found = await MsgBus.UDPServer.GetDataCountAsync(endPoint.Address.ToString(), taskID, timeleft);
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if (found.HasValue && found.Value >= readTimes)
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{
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var dataArr = await MsgBus.UDPServer.FindDataArrayAsync(endPoint.Address.ToString(), taskID, timeleft);
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if (dataArr.HasValue)
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{
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udpDatas = dataArr.Value;
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break;
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}
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}
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}
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if (udpDatas is null || udpDatas.Count < readTimes)
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return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas?.Count ?? 0}"));
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// Collect and validate all received data
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for (var i = 0; i < udpDatas.Count; i++)
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{
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var bytes = udpDatas[i].Data;
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var expectedLen = ((optsList[i].BurstLength + 1) * 4);
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if (bytes.Length != expectedLen)
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return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length} bytes at segment {i}"));
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resultData.AddRange(bytes);
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}
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// Validate total data length
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if (resultData.Count != dataLength * 4)
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return new(new Exception($"Expected total {dataLength * 4} bytes but received {resultData.Count} bytes"));
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return resultData.ToArray();
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}
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/// <summary>
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/// 向设备地址写入32位数据
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/// </summary>
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@ -183,15 +183,59 @@ public class UDPServer
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}
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}
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/// <summary>
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/// 异步寻找目标发送的所有内容，并清空队列
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/// </summary>
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/// <param name="ipAddr">目标IP地址</param>
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/// <param name="taskID">任务ID</param>
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/// <param name="timeout">超时时间</param>
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/// <returns>异步Optional 数据包列表</returns>
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public async ValueTask<Optional<List<UDPData>>> FindDataArrayAsync(string ipAddr, int taskID, int timeout = 1000)
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{
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List<UDPData>? data = null;
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var startTime = DateTime.Now;
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var isTimeout = false;
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var timeleft = TimeSpan.FromMilliseconds(timeout);
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while (!isTimeout)
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{
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var elapsed = DateTime.Now - startTime;
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isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
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if (isTimeout) break;
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timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
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using (await udpData.AcquireWriteLockAsync(timeleft))
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{
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if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
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udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue) &&
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dataQueue.Count > 0)
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{
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data = dataQueue.ToList();
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dataQueue.Clear();
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break;
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}
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}
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}
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if (data is null)
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{
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logger.Trace("Get nothing even after time out");
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return new(null);
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}
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else
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{
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return new(data);
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}
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}
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/// <summary>
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/// 获取还未被读取的数据列表
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/// </summary>
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/// <param name="ipAddr">IP地址</param>
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/// <param name="taskID">[TODO:parameter]</param>
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/// <param name="taskID">任务ID</param>
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/// <param name="timeout">超时时间</param>
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/// <param name="cycle">延迟时间</param>
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/// <returns>数据列表</returns>
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public async ValueTask<Optional<List<UDPData>>> GetDataArrayAsync(string ipAddr, int taskID, int timeout = 1000, int cycle = 0)
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public async ValueTask<Optional<List<UDPData>>> GetDataArrayAsync(string ipAddr, int taskID, int timeout = 1000)
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{
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List<UDPData>? data = null;
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@ -229,6 +273,49 @@ public class UDPServer
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}
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}
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/// <summary>
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/// 异步获取指定IP和任务ID的数据队列长度
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/// </summary>
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/// <param name="ipAddr">IP地址</param>
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/// <param name="taskID">任务ID</param>
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/// <param name="timeout">超时时间</param>
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/// <returns>数据队列长度</returns>
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public async ValueTask<Optional<int>> GetDataCountAsync(string ipAddr, int taskID, int timeout = 1000)
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{
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int? count = null;
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var startTime = DateTime.Now;
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var isTimeout = false;
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var timeleft = TimeSpan.FromMilliseconds(timeout);
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while (!isTimeout)
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{
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var elapsed = DateTime.Now - startTime;
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isTimeout = elapsed >= TimeSpan.FromMilliseconds(timeout);
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if (isTimeout) break;
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timeleft = TimeSpan.FromMilliseconds(timeout) - elapsed;
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using (await udpData.AcquireReadLockAsync(timeleft))
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{
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if (udpData.ContainsKey($"{ipAddr}-{taskID}") &&
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udpData.TryGetValue($"{ipAddr}-{taskID}", out var dataQueue))
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{
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count = dataQueue.Count;
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break;
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}
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}
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}
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if (count is null)
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{
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logger.Trace("Get nothing even after time out");
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return Optional<int>.None;
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}
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else
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{
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return new(count.Value);
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}
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}
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/// <summary>
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/// 异步等待写响应
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/// </summary>
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