feat: 部分修复摄像头批量读逻辑

server/src/UdpClientPool.cs

@@ -465,7 +465,7 @@ public class UDPClientPool
         // Send address packages in batches of 128, control outstanding
         int sentCount = 0;
         var startTime = DateTime.Now;
-        const int batchSize = 128;
+        const int batchSize = 64;
         while (sentCount < pkgList.Count)
         {
             var elapsed = DateTime.Now - startTime;
@@ -487,11 +487,12 @@ public class UDPClientPool
             var ret = await UDPClientPool.SendMultiAddrPackAsync(endPoint, batchPkgs);
             if (!ret) return new(new Exception($"Send address package batch failed at segment {sentCount}!"));
             sentCount += batchSend;
+            // Task.Delay(1).Wait();
         }
 
         // Wait until enough data is received or timeout
         startTime = DateTime.Now;
-        List<UDPData>? udpDatas = null;
+        var udpDatas = new List<UDPData>();
         while (true)
         {
             var elapsed = DateTime.Now - startTime;
@@ -504,23 +505,23 @@ public class UDPClientPool
                 var dataArr = await MsgBus.UDPServer.FindDataArrayAsync(endPoint.Address.ToString(), taskID, timeleft);
                 if (dataArr.HasValue)
                 {
-                    udpDatas = dataArr.Value;
+                    udpDatas.AddRange(dataArr.Value);
                     break;
                 }
             }
         }
 
-        if (udpDatas is null || udpDatas.Count < readTimes)
+        if (udpDatas.Count < readTimes)
-            return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas?.Count ?? 0}"));
+            return new(new Exception($"Expected {readTimes} UDP data packets but received {udpDatas.Count}"));
 
         // Collect and validate all received data
         for (var i = 0; i < udpDatas.Count; i++)
         {
             var bytes = udpDatas[i].Data;
             var expectedLen = ((pkgList[i].Options.BurstLength + 1) * 4);
-            if (bytes.Length != expectedLen)
+            if ((bytes.Length - 4) != expectedLen)
-                return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length} bytes at segment {i}"));
+                return new(new Exception($"Expected {expectedLen} bytes but received {bytes.Length - 4} bytes at segment {i}"));
-            resultData.AddRange(bytes);
+            resultData.AddRange(bytes[4..]);
         }
 
         // Validate total data length

server/src/UdpServer.cs

@@ -367,15 +367,17 @@ public class UDPServer
 
         return retPack.Value;
     }
+    static int ReceiveHandleCcount = 0;
 
     private void ReceiveHandler(IAsyncResult res)
     {
-        logger.Trace("Enter handler");
         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++;
 
         // Handle RemoteEP
         if (remoteEP is null)
@@ -431,7 +433,7 @@ public class UDPServer
                 udpData.TryGetValue($"{remoteAddress}-{taskID}", out var dataQueue))
             {
                 dataQueue.Enqueue(data);
-                logger.Trace("Receive data from old client");
+                logger.Debug($"Test Lock dataQueue.Count = {dataQueue.Count}");
             }
             else
             {