SuZhouGuanHong/ShanMeiXinNengYuan.git

using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Collections.Concurrent;
 
var options = ClientOptions.FromArgs(args);
var cts = new CancellationTokenSource();
var clients = new ConcurrentDictionary<int, Socket>();
 
Console.WriteLine($"准备启动 {options.ClientCount} 个客户端，连接到 {options.ServerHost}:{options.ServerPort}");
 
// 启动所有客户端连接任务
var connectTasks = Enumerable.Range(0, options.ClientCount)
    .Select(i => RunClientAsync(i + 1, options, clients, cts.Token))
    .ToArray();
 
// 等待所有客户端连接完成
await Task.WhenAll(connectTasks);
 
// 启动发送循环（与监听任务并行运行）
await SendLoopAsync(clients, cts);
 
static async Task RunClientAsync(int clientId, ClientOptions options, ConcurrentDictionary<int, Socket> clients, CancellationToken cancellationToken)
{
    var localPort = options.StartLocalPort + clientId - 1;
 
    // 验证端口范围
    if (localPort > 65535)
    {
        Console.WriteLine($"错误: 客户端#{clientId} 的本地端口 {localPort} 超出有效范围");
        return;
    }
 
    // 首次连接
    var client = await ConnectAsync(clientId, options, localPort, cancellationToken);
    if (client == null)
    {
        return;
    }
 
    clients[clientId] = client;
 
    // 启动带重连功能的监听任务（后台运行，不阻塞）
    _ = Task.Run(() => RunWithReconnectAsync(clientId, options, localPort, clients, cancellationToken), cancellationToken);
 
    // 发送初始化消息
    await InitializeClientAsync(client, clientId);
 
    // 立即返回，让主线程继续执行 SendLoopAsync
}
 
static async Task<Socket?> ConnectAsync(int clientId, ClientOptions options, int localPort, CancellationToken cancellationToken)
{
    try
    {
        var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
        // 允许重用本地端口，解决重连时端口被占用的问题
        client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
        client.Bind(new IPEndPoint(IPAddress.Any, localPort));
        await client.ConnectAsync(options.ServerHost, options.ServerPort);
        Console.WriteLine($"客户端#{clientId} 已连接，本地端口: {localPort}");
        return client;
    }
    catch (Exception ex)
    {
        Console.WriteLine($"客户端#{clientId} 连接失败: {ex.Message}");
        return null;
    }
}
 
static async Task RunWithReconnectAsync(int clientId, ClientOptions options, int localPort, ConcurrentDictionary<int, Socket> clients, CancellationToken cancellationToken)
{
    var reconnectCount = 0;
 
    while (!cancellationToken.IsCancellationRequested)
    {
        Socket? client = null;
        try
        {
            // 获取当前连接的 Socket（如果存在）
            if (clients.TryGetValue(clientId, out client))
            {
                // 监听消息，直到连接断开
                // ListenServerMessagesAsync 的 finally 会自动清理断开的 Socket
                await ListenServerMessagesAsync(client, clientId, cancellationToken, clients);
            }
 
            // 连接已断开，进入重连逻辑
            reconnectCount++;
 
            // 检查是否启用重连
            if (!options.EnableReconnect)
            {
                Console.WriteLine($"客户端#{clientId} 重连已禁用，退出");
                return;
            }
 
            // 检查重连次数限制
            if (options.MaxReconnectAttempts > 0 && reconnectCount > options.MaxReconnectAttempts)
            {
                Console.WriteLine($"客户端#{clientId} 已达到最大重连次数 ({options.MaxReconnectAttempts})，退出");
                return;
            }
 
            // 等待重连间隔
            Console.WriteLine($"客户端#{clientId} 等待 {options.ReconnectIntervalMs / 1000} 秒后重连... (第 {reconnectCount} 次)");
            await Task.Delay(options.ReconnectIntervalMs, cancellationToken);
 
            // 尝试重新连接
            client = await ConnectAsync(clientId, options, localPort, cancellationToken);
            if (client == null)
            {
                continue;
            }
 
            // 将新 Socket 加入字典
            clients[clientId] = client;
 
            // 重新初始化
            await InitializeClientAsync(client, clientId);
            Console.WriteLine($"客户端#{clientId} 重连成功，已重新初始化");
        }
        catch (OperationCanceledException)
        {
            // 正常取消
            return;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"客户端#{clientId} 运行异常: {ex.Message}");
            clients.TryRemove(clientId, out _);
            try { client?.Shutdown(SocketShutdown.Both); } catch { }
            try { client?.Dispose(); } catch { }
        }
    }
}
 
static async Task InitializeClientAsync(Socket client, int clientId)
{
    await Task.Delay(5000);
    await WriteMessageAsync(client, clientId, "Homed");
    await Task.Delay(500);
 
    await WriteMessageAsync(client, clientId, "Runmode,2");
    await Task.Delay(500);
 
    await WriteMessageAsync(client, clientId, "Armobject,0");
    await Task.Delay(500);
 
    await WriteMessageAsync(client, clientId, "Controlmode,1");
}
 
static async Task WriteMessageAsync(Socket client, int clientId, string message)
{
    var framedMessage = $"<START>{message}<END>";
    var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
    await client.SendAsync(sendBuffer, SocketFlags.None);
    Console.WriteLine($"客户端#{clientId} 发送: {framedMessage}");
}
 
static async Task ReadMessageAsync(Socket client, int clientId)
{
    var receiveBuffer = new byte[1024];
    var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
    if (length <= 0)
    {
        Console.WriteLine($"客户端#{clientId} 未接收到数据");
        return;
    }
 
    var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
    if (!response.StartsWith("<START>") || !response.EndsWith("<END>"))
    {
        Console.WriteLine($"客户端#{clientId} 收到无效消息（缺少消息头或消息尾），已忽略");
        return;
    }
 
    var content = response["<START>".Length..^"<END>".Length];
    Console.WriteLine($"客户端#{clientId} 收到: {content}");
 
   
}
 
static async Task ListenServerMessagesAsync(Socket client, int clientId, CancellationToken cancellationToken, ConcurrentDictionary<int, Socket> clients)
{
    var receiveBuffer = new byte[1024];
    var cache = new StringBuilder();
 
    try
    {
        while (!cancellationToken.IsCancellationRequested)
        {
            int length;
            try
            {
                length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None, cancellationToken);
            }
            catch (SocketException)
            {
                Console.WriteLine($"客户端#{clientId} 与服务端断开连接");
                return;
            }
            catch (ObjectDisposedException)
            {
                Console.WriteLine($"客户端#{clientId} Socket 已被释放");
                return;
            }
 
            if (length <= 0)
            {
                Console.WriteLine($"客户端#{clientId} 与服务端断开连接");
                return;
            }
 
            cache.Append(Encoding.UTF8.GetString(receiveBuffer, 0, length));
            await TryReadFramedMessages(cache, clientId, client);
        }
    }
    catch (OperationCanceledException)
    {
        // 正常取消，不需要记录错误
    }
    catch (Exception ex)
    {
        Console.WriteLine($"客户端#{clientId} 接收消息异常: {ex.Message}");
    }
    finally
    {
        // 连接断开时，从字典中移除这个 Socket（如果还是当前的话）
        clients.TryRemove(clientId, out var removed);
        if (removed == client)
        {
            try { client.Shutdown(SocketShutdown.Both); } catch { }
            try { client.Dispose(); } catch { }
        }
    }
}
 
static async Task TryReadFramedMessages(StringBuilder cache, int clientId, Socket client)
{
    const string start = "<START>";
    const string end = "<END>";
 
    while (true)
    {
        var text = cache.ToString();
        var startIndex = text.IndexOf(start, StringComparison.Ordinal);
        if (startIndex < 0)
        {
            // 没有找到 START 标记，保留缓存等待更多数据
            // 但如果缓存太大，清空以防内存泄漏
            if (cache.Length > 10240) // 10KB 阈值
            {
                cache.Clear();
            }
            return;
        }
 
        var endIndex = text.IndexOf(end, startIndex + start.Length, StringComparison.Ordinal);
        if (endIndex < 0)
        {
            // 移除 START 之前的无效数据
            if (startIndex > 0)
            {
                cache.Remove(0, startIndex);
            }
            return;
        }
 
        var contentStart = startIndex + start.Length;
        var contentLength = endIndex - contentStart;
        var content = text.Substring(contentStart, contentLength);
        Console.WriteLine($"客户端#{clientId} 收到: {content}");
 
        cache.Remove(0, endIndex + end.Length);
 
        if (content == "Pickbattery,1")
        {
            await WriteMessageAsync(client, clientId, "Running");
            await Task.Delay(1000);
            await WriteMessageAsync(client, clientId, "Picking");
 
            //await WriteMessageAsync(client, clientId, "PickFinished,1,2,3,4");
        }
        else if (content == "Putbattery,1")
        {
            await WriteMessageAsync(client, clientId, "Running");
            await Task.Delay(500);
            await WriteMessageAsync(client, clientId, "Puting");
            await Task.Delay(5000);
 
            //await WriteMessageAsync(client, clientId, "PutFinished,1,2,3,4");
        }
    }
}
 
static async Task SendLoopAsync(ConcurrentDictionary<int, Socket> clients, CancellationTokenSource cts)
{
    Console.WriteLine("输入格式: 客户端编号:消息，例如 1:Status，输入 exit 退出");
 
    while (!cts.IsCancellationRequested)
    {
        var line = Console.ReadLine();
        if (string.IsNullOrWhiteSpace(line))
        {
            continue;
        }
 
        if (line.Equals("exit", StringComparison.OrdinalIgnoreCase))
        {
            cts.Cancel();
            foreach (var socket in clients.Values)
            {
                try
                {
                    socket.Shutdown(SocketShutdown.Both);
                    socket.Dispose();
                }
                catch { }
            }
            return;
        }
 
        var index = line.IndexOf(':');
        if (index <= 0 || index == line.Length - 1)
        {
            Console.WriteLine("输入不正确，请使用: 客户端编号:消息");
            continue;
        }
 
        var idText = line[..index];
        var message = line[(index + 1)..];
        if (!int.TryParse(idText, out var clientId) || !clients.TryGetValue(clientId, out var client))
        {
            Console.WriteLine($"客户端#{idText} 不存在或未连接");
            continue;
        }
 
        try
        {
            await WriteMessageAsync(client, clientId, message);
        }
        catch (ObjectDisposedException)
        {
            Console.WriteLine($"客户端#{clientId} 发送失败: Socket 已关闭（可能正在重连中）");
            clients.TryRemove(clientId, out _);
        }
        catch (SocketException ex)
        {
            Console.WriteLine($"客户端#{clientId} 发送失败: {ex.Message}");
            clients.TryRemove(clientId, out _);
        }
        catch (Exception ex)
        {
            Console.WriteLine($"客户端#{clientId} 发送失败: {ex.GetType().Name} - {ex.Message}");
        }
    }
}
 
file sealed class ClientOptions
{
    public int ClientCount { get; init; } = 1;
    public string ServerHost { get; init; } = "127.0.0.1";
    public int ServerPort { get; init; } = 2000;
    public int StartLocalPort { get; init; } = 62312;
    public bool EnableReconnect { get; init; } = true;
    public int ReconnectIntervalMs { get; init; } = 5000;
    public int MaxReconnectAttempts { get; init; } = -1; // -1 表示无限重试
 
    public static ClientOptions FromArgs(string[] args)
    {
        var map = args
            .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
            .Where(parts => parts.Length == 2)
            .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
 
        return new ClientOptions
        {
            ClientCount = GetInt(map, "count", 1),
            ServerHost = GetString(map, "host", "127.0.0.1"),
            ServerPort = GetInt(map, "serverport", 2000),
            StartLocalPort = GetInt(map, "localport", 62312),
            EnableReconnect = GetBool(map, "reconnect", true),
            ReconnectIntervalMs = GetInt(map, "reconnectinterval", 5000),
            MaxReconnectAttempts = GetInt(map, "maxreconnect", -1)
        };
    }
 
    private static bool GetBool(Dictionary<string, string> map, string key, bool defaultValue)
        => map.TryGetValue(key, out var value)
        ? (bool.TryParse(value, out var result) ? result : defaultValue)
        : defaultValue;
 
    private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
        => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
 
    private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
        => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
}