WCS堆垛机流程

wangxinhui

2026-02-27 804051e9e3013a3ad6b3e47757050e32893cf4fb

 ´úÂë¹ÜÀí/WCS/WCSServers/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs

@@ -1,17 +1,24 @@
using HslCommunication.Core.IMessage;
using System;
using System.Net.Sockets;
using System.Text;
using System.Text.Json;
using System.Threading;
using System.Threading.Tasks;
using WIDESEAWCS_QuartzJob;
using System.IO;

namespace WIDESEAWCS_Tasks.SocketServer
{
    public partial class TcpSocketServer
    {
        public async Task HandleClientAsync(TcpClient client, string clientId, CancellationToken cancellationToken, RobotSocketState robotCrane)
        /// <summary>
        /// å¼‚步处理与已连接的TCP客户端的通信，处理机器人起重机会话中的传入消息和客户端状态更新。
        /// </summary>
        /// <remarks>此方法管理客户端连接的生命周期，包括读取消息、更新客户端状态和调用相关事件。
        /// å½“处理结束时，客户端和相关的网络资源将被释放。如果启用心跳或空闲超时选项，
        /// å°†åº”用额外的取消逻辑。事件调用期间的异常将被捕获并抑制，以确保会话处理的鲁棒性。</remarks>
        /// <param name="client">表示要处理的远程连接的TCP客户端。方法完成后将释放此对象。</param>
        /// <param name="clientId">已连接客户端的唯一标识符。用于在整个会话中跟踪和更新客户端状态。</param>
        /// <param name="cancellationToken">可用于取消客户端处理操作的取消令牌。如果请求取消，方法将立即终止处理。</param>
        /// <param name="stackerState">表示与客户端关联的机器人起重机的当前状态对象。用于为消息处理和事件调用提供上下文。</param>
        /// <returns>表示处理客户端连接的异步操作的任务。当客户端断开连接或请求取消时任务完成。</returns>
        public async Task HandleClientAsync(TcpClient client, string clientId, CancellationToken cancellationToken, StackerSocketState stackerState)
        {
            using (client)
            using (NetworkStream networkStream = client.GetStream())
@@ -32,7 +39,8 @@
                        try
                        {
                            var ct = localCts?.Token ?? cancellationToken;
                            message = await reader.ReadLineAsync().WaitAsync(ct);
                            message = await ReceiveFullMessageAsync(networkStream, _textEncoding, ct);
                            //message = await reader.ReadLineAsync().WaitAsync(ct);
                        }
                        catch (OperationCanceledException)
                        {
@@ -57,9 +65,9 @@
                        {
                            try
                            {

                                _ = MessageReceived.Invoke(message, false, client, robotCrane);

                                // åˆ¤æ–­æ˜¯å¦ä¸º JSON æ ¼å¼
                                bool isJsonFormat = TryParseJsonSilent(message);
                                _ = MessageReceived.Invoke(message, isJsonFormat, client, stackerState);
                            }
                            catch { }
                        }
@@ -74,6 +82,18 @@
            }
        }

        /// <summary>
        /// å°è¯•å¤„理来自客户端的设备注册请求。返回一个值指示该消息是否被作为注册请求处理。
        /// </summary>
        /// <remarks>如果消息是有效的注册请求且包含非空的设备标识符，
        /// åˆ™å°†è®¾å¤‡ç»‘定到客户端并发送确认信息。此方法不会因无效消息而抛出异常；
        /// å®ƒä»…返回 false。</remarks>
        /// <param name="messageLower">客户端消息的小写版本，用于判断消息是否为注册请求。</param>
        /// <param name="message">包含注册命令和设备标识符的原始客户端消息。</param>
        /// <param name="clientId">发送注册请求的客户端的唯一标识符。</param>
        /// <param name="client">与客户端通信的TCP客户端连接。</param>
        /// <param name="cancellationToken">可用于取消注册操作的取消令牌。</param>
        /// <returns>如果消息被识别并作为注册请求处理，则返回 true；否则返回 false。</returns>
        private bool TryHandleRegister(string messageLower, string message, string clientId, NetworkStream networkStream, CancellationToken cancellationToken)
        {
            if (!messageLower.StartsWith("register,"))
@@ -95,6 +115,11 @@
            return true;
        }

        /// <summary>
        /// æ›´æ–°å®¢æˆ·ç«¯çŠ¶æ€
        /// </summary>
        /// <param name="clientId"></param>
        /// <param name="message"></param>
        private void UpdateClientStatus(string clientId, string message)
        {
            lock (_syncRoot)
@@ -116,6 +141,14 @@
            }
        }

        /// <summary>
        /// å†™å…¥æ¶ˆæ¯åˆ°å®¢æˆ·ç«¯
        /// </summary>
        /// <param name="clientId"></param>
        /// <param name="networkStream"></param>
        /// <param name="message"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        private async Task WriteToClientAsync(string clientId, NetworkStream networkStream, string message, CancellationToken cancellationToken)
        {
            SemaphoreSlim? sem = null;
@@ -131,7 +164,8 @@
            if (sem != null) await sem.WaitAsync(cancellationToken);
            try
            {
                var data = enc.GetBytes(message + "\n");
                var framedMessage = BuildFramedMessage(message);
                var data = enc.GetBytes(framedMessage);
                await networkStream.WriteAsync(data, 0, data.Length, cancellationToken);
            }
            finally
@@ -140,6 +174,23 @@
            }
        }

        /// <summary>
        /// æ·»åŠ æ¶ˆæ¯å¸§å¤´å°¾
        /// </summary>
        /// <param name="message"></param>
        /// <returns></returns>
        private string BuildFramedMessage(string message)
        {
            var header = _options.MessageHeader ?? string.Empty;
            var footer = _options.MessageFooter ?? string.Empty;
            return header + (message ?? string.Empty) + footer;
        }

        /// <summary>
        /// JSON格式尝试解析（静默失败）
        /// </summary>
        /// <param name="message"></param>
        /// <returns></returns>
        private static bool TryParseJsonSilent(string message)
        {
            if (string.IsNullOrWhiteSpace(message)) return false;
@@ -148,6 +199,11 @@
            try { JsonDocument.Parse(message); return true; } catch { return false; }
        }

        /// <summary>
        /// utf-8 å¯èƒ½æ€§æ£€æµ‹
        /// </summary>
        /// <param name="data"></param>
        /// <returns></returns>
        private static bool IsLikelyUtf8(byte[] data)
        {
            int i = 0;
@@ -177,5 +233,58 @@
            }
            return true;
        }

        /// <summary>
        /// è¯»å–完整消息
        /// </summary>
        /// <param name="networkStream">字节流</param>
        /// <param name="encoding">编码格式</param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        private async Task<string?> ReceiveFullMessageAsync(NetworkStream networkStream, Encoding encoding, CancellationToken cancellationToken)
        {
            var header = _options.MessageHeader ?? string.Empty;
            var footer = _options.MessageFooter ?? string.Empty;

            var buffer = new byte[1024];
            var builder = new StringBuilder();

            while (true)
            {
                int bytesRead = await networkStream.ReadAsync(buffer.AsMemory(0, buffer.Length), cancellationToken);
                if (bytesRead <= 0)
                {
                    if (builder.Length == 0) return null;
                    return string.IsNullOrEmpty(header) && string.IsNullOrEmpty(footer) ? builder.ToString() : null;
                }

                builder.Append(encoding.GetString(buffer, 0, bytesRead));

                if (string.IsNullOrEmpty(header) && string.IsNullOrEmpty(footer))
                {
                    if (!networkStream.DataAvailable)
                    {
                        break;
                    }
                    continue;
                }

                var data = builder.ToString();
                var headerIndex = string.IsNullOrEmpty(header) ? 0 : data.IndexOf(header, StringComparison.Ordinal);
                if (headerIndex < 0)
                {
                    continue;
                }

                var startIndex = headerIndex + header.Length;
                var footerIndex = string.IsNullOrEmpty(footer) ? data.Length : data.IndexOf(footer, startIndex, StringComparison.Ordinal);
                if (footerIndex >= 0)
                {
                    return data.Substring(startIndex, footerIndex - startIndex);
                }
            }

            return builder.ToString();
        }
    }
}