using System.Collections.Concurrent;
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using System.Net.Sockets;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_Tasks.SocketServer;
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namespace WIDESEAWCS_Tasks
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{
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/// <summary>
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/// 机械手客户端连接管理器 - 负责TCP客户端连接管理和事件订阅
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/// </summary>
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public class RobotClientManager
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{
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private readonly TcpSocketServer _tcpSocket;
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private readonly RobotStateManager _stateManager;
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// 跟踪已经启动 HandleClientAsync 的客户端
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private static readonly ConcurrentDictionary<string, bool> _handleClientStarted = new();
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private static int _eventSubscribedFlag;
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public event EventHandler<RobotSocketState>? OnClientDisconnected;
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public RobotClientManager(TcpSocketServer tcpSocket, RobotStateManager stateManager)
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{
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_tcpSocket = tcpSocket;
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_stateManager = stateManager;
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}
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/// <summary>
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/// 确保客户端已连接并订阅消息事件
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/// </summary>
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/// <param name="ipAddress">设备IP地址</param>
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/// <param name="robotCrane">机器人设备信息</param>
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/// <returns>客户端是否可用（已连接且消息处理已启动）</returns>
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public bool EnsureClientSubscribed(string ipAddress, RobotCraneDevice robotCrane)
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{
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// 检查是否有该客户端连接
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var clientIds = _tcpSocket.GetClientIds();
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bool isClientConnected = clientIds.Contains(ipAddress);
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if (!isClientConnected)
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{
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// 客户端未连接，清理 HandleClientAsync 状态
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_handleClientStarted.TryRemove(ipAddress, out _);
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return false;
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}
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// 订阅一次 robot 事件（全局一次）- message事件由RobotJob订阅
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if (System.Threading.Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
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{
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_tcpSocket.RobotReceived += OnRobotReceived;
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Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 机器人TCP断开事件已订阅");
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}
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// 获取TcpClient
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TcpClient? tcpClient = null;
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_tcpSocket._clients.TryGetValue(ipAddress, out tcpClient);
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if (tcpClient == null)
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{
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// isClientConnected为true但无法获取tcpClient，列表可能不同步
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_handleClientStarted.TryRemove(ipAddress, out _);
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return false;
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}
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// 检查是否已经为这个客户端启动过 HandleClientAsync
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bool alreadyStarted = _handleClientStarted.TryGetValue(ipAddress, out _);
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if (!alreadyStarted)
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{
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Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 启动客户端消息处理: {ipAddress}");
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// 重新获取最新的 state 对象
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var latestStateForSubscribe = _stateManager.GetState(ipAddress);
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if (latestStateForSubscribe != null)
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{
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// 标记为已启动
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_handleClientStarted[ipAddress] = true;
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_ = _tcpSocket.HandleClientAsync(tcpClient, robotCrane.IPAddress, _tcpSocket._cts.Token, latestStateForSubscribe)
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.ContinueWith(t =>
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{
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if (t.IsFaulted)
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{
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Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
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// 发生错误时，移除启动标志，允许下次重试
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_handleClientStarted.TryRemove(ipAddress, out _);
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}
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}, TaskContinuationOptions.OnlyOnFaulted);
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// 更新 IsEventSubscribed 状态
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_stateManager.TryUpdateStateSafely(ipAddress, s =>
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{
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s.IsEventSubscribed = true;
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return s;
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});
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}
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}
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return true;
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}
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/// <summary>
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/// 事件：客户端断开连接时触发
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/// </summary>
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private Task<string?> OnRobotReceived(string clientId)
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{
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// 客户端断开连接，清理 HandleClientAsync 启动标志
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_handleClientStarted.TryRemove(clientId, out _);
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_stateManager.TryUpdateStateSafely(clientId, state =>
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{
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state.IsEventSubscribed = false;
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state.CurrentAction = "";
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state.OperStatus = "";
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state.RobotArmObject = 0;
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state.RobotControlMode = 0;
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state.RobotRunMode = 0;
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return state;
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});
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// 触发断开连接事件
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OnClientDisconnected?.Invoke(this, _stateManager.GetState(clientId) ?? new RobotSocketState { IPAddress = clientId });
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return Task.FromResult<string?>(null);
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}
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/// <summary>
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/// 检查客户端是否已连接
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/// </summary>
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public bool IsClientConnected(string ipAddress)
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{
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var clientIds = _tcpSocket.GetClientIds();
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return clientIds.Contains(ipAddress);
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}
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/// <summary>
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/// 发送消息到客户端
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/// </summary>
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public async Task<bool> SendToClientAsync(string ipAddress, string message)
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{
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return await _tcpSocket.SendToClientAsync(ipAddress, message);
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}
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/// <summary>
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/// 获取TcpSocketServer引用（用于RobotJob直接访问）
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/// </summary>
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public TcpSocketServer TcpSocket => _tcpSocket;
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}
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}
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